So, as I said in my original reply, this is something that can't be done with real Kilobots because they lack the sensors to do it, and specifically the encoders.
The only way to do it is essentially "cheating". Because I modeled the kilobots after the original kilolib.h, one way to proceed would be to modify that first, for example by creating a couple of functions to get the distance and rotation covered since the last time step. Then this would need to be implemented in the ARGoS controller as well.
It's not hard to do, as the code to achieve it is essentially already all there.
However, if you wanna work with a robot that can do this kind of behaviors, I would suggest you to work the foot-bot or the Khepera.
I made ARGoS.