Collision Avoidance Plugin for Blender -- Python

We are looking to hire a developer to write a custom plugin to manage collision avoidance in Blender. Our designs use between 50 and 500 objects (icospheres). The objects are arranged into shapes by being parented to empties. For instance, the starting shape could be a 10 x 10 grid, using 100 objects, and shape #2 could be a sphere with 100 vertices, with an empty at each vertice. We want to be able to select all the empties in the target formation, run the script, and have all our objects navigate from the start position (grid) to the arrival position (sphere) without colliding during the movement from a grid shape to a sphere shape. Each object cannot exceed a maximum preset speed during the movement. Collision avoidance can be implemented using paths that do not intersect, or by speeding up or slowing down the movement, or by staggering departure and arrival times of the objects, or a combination of these three methods. The ideal candidate would be familiar with collision avoidance algorithms (such as A*) and have a strong python coding experience. See the attached short video for a clearer explanation. This website forces us to name a price for the project, but since we are not programmers we do not know if the price we posted is realistic or not, feel free to bid according to what you think it is worth.