We present a novel approach to self-organisation of coordinated behaviour among multiple resource-sharing agents. We consider a hierarchical multi-agent system comprising multiple energy-dependent agents split into local neighbourhoods, each with a dedicated controller, and a centralised coordinator dealing only with the controllers. The coordinated behaviour is required in order to achieve a balance between the overall resource consumption by the multi-agent collective and the stress on the community. Minimising the resource consumption increases the stress, while reducing the stress may lead to unrestricted and highly unpredictable demand, harming the individual agents in the long-run. We identify underlying forces in the system's dynamics, suggest a number of quantitative measures used to contrast different strategies, and introduce a novel strategy based on persistent sensorimotor time-loops: homeotaxis. Homeotaxis subsumes the homeokinetic principle, extending it both in terms of scope (multi-agent self-organisation) and the state-space, and allows to select the best adaptive strategy for the considered system.