A self-assembly algorithm for synchronising agents and have them arrange according to a particular graph is given. This algorithm, expressed using an ad hoc rulebased process algebra, extends Klavins' original proposal (Klavin, 2002: Automatic synthesis of controllers for assembly and formation forming. In: Proceedings of the International Conference on Robotics and Automation), in that it relies only on point-topoint communication, and can deal with any assembly graph whereas Klavins' method dealt only with trees.