Ok, I did some tests and the agents are running fine now.
At least, initially...

When I start my first server via the following command:

./build/bin/arangod --server.authentication=false --server.endpoint 
tcp://0.0.0.0:8529 
--cluster.my-address tcp://127.0.0.1:8529 --cluster.my-local-info db1 
--cluster.my-role PRIMARY --cluster.agency-endpoint tcp://127.0.0.1:5001 
primary1

I get following output:

bart@laptop ~/test/arangodb $ ./build/bin/arangod 
--server.authentication=false --server.endpoint tcp://0.0.0.0:8529 
--cluster.my-address tcp://127.0.0.1:8529 --cluster.my-local-info db1 
--cluster.my-role PRIMARY --cluster.agency-endpoint tcp://127.0.0.1:5001 
primary1
2016-06-28T07:06:38Z [24113] INFO using SSL options: 
SSL_OP_CIPHER_SERVER_PREFERENCE, SSL_OP_TLS_ROLLBACK_BUG
2016-06-28T07:06:38Z [24113] INFO file-descriptors (nofiles) hard limit is 
4096, soft limit is 1024
2016-06-28T07:06:38Z [24113] INFO created database directory 'primary1'.
2016-06-28T07:06:38Z [24113] INFO WAL directory 'primary1/journals' does 
not exist. creating it...
2016-06-28T07:06:38Z [24113] INFO ArangoDB 3.0.x-devel [linux] 64bit, using 
VPack 0.1.30, ICU 54.1, V8 5.0.71.39, OpenSSL 1.0.1f 6 Jan 2014
2016-06-28T07:06:38Z [24113] INFO loaded database '_system' from 
'primary1/databases/database-1'
2016-06-28T07:06:38Z [24113] INFO the server has 4 (hyper) cores, using 1 
scheduler thread(s), 4 dispatcher thread(s)
2016-06-28T07:06:39Z [24113] INFO JavaScript using startup './js', 
application './js/apps'
2016-06-28T07:06:39Z [24113] INFO changing state of PRIMARY server from 
UNDEFINED to STARTUP
2016-06-28T07:06:39Z [24113] INFO Cluster feature is turned on. Agency 
version: , Agency endpoints: http+tcp://127.0.0.1:5002, 
http+tcp://127.0.0.1:5002, http+tcp://127.0.0.1:5002, 
http+tcp://127.0.0.1:5001, http+tcp://127.0.0.1:5001, 
http+tcp://127.0.0.1:5001, server id: 'DBServer001', internal address: 
tcp://127.0.0.1:8529, role: PRIMARY
2016-06-28T07:06:39Z [24113] INFO using heartbeat interval value '1000 ms' 
from agency
2016-06-28T07:06:39Z [24113] INFO changing state of PRIMARY server from 
STARTUP to SERVING
2016-06-28T07:06:39Z [24113] INFO In database '_system': No version 
information file found in database directory.
2016-06-28T07:06:39Z [24113] INFO In database '_system': Database is 
up-to-date (30000/cluster-local/init)
2016-06-28T07:06:40Z [24113] INFO using endpoint 'http+tcp://0.0.0.0:8529' 
for non-encrypted requests
2016-06-28T07:06:40Z [24113] INFO Authentication is turned off
2016-06-28T07:06:40Z [24113] INFO bootstraped DB server DBServer001
2016-06-28T07:06:40Z [24113] INFO bootstraped DB server DBServer001
2016-06-28T07:06:40Z [24113] INFO bootstraped DB server DBServer001
2016-06-28T07:06:40Z [24113] INFO In database '_system': Database is 
up-to-date (-/db-server-local/init)
2016-06-28T07:06:40Z [24113] INFO bootstraped DB server DBServer001
2016-06-28T07:06:40Z [24113] INFO ArangoDB (version 3.0.x-devel [linux]) is 
ready for business. Have fun!
2016-06-28T07:06:41Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:51Z [24113] ERROR error details: 
{"code":307,"errorNum":0,"errorMessage":"Temporary Redirect (Temporary 
Redirect)","error":true}
2016-06-28T07:06:51Z [24113] ERROR error stack: ArangoError: Temporary 
Redirect (Temporary Redirect)\n    at Error (native)\n    at writeLocked 
(/home/bart/test/arangodb/js/server/modules/@arangodb/cluster.js:1663:41)\n 
   at createLocalDatabases 
(/home/bart/test/arangodb/js/server/modules/@arangodb/cluster.js:348:9)\n   
 at handleDatabaseChanges 
(/home/bart/test/arangodb/js/server/modules/@arangodb/cluster.js:461:3)\n   
 at handleChanges 
(/home/bart/test/arangodb/js/server/modules/@arangodb/cluster.js:1460:3)\n 
   at handlePlanChange 
(/home/bart/test/arangodb/js/server/modules/@arangodb/cluster.js:1675:24)
2016-06-28T07:06:51Z [24113] ERROR plan change handling failed
2016-06-28T07:06:52Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:53Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:54Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:55Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:56Z [24113] WARNING {heartbeat} heartbeat could not be 
sent to agency endpoints (http+tcp://127.0.0.1:5002, 
http+tcp://127.0.0.1:5002, http+tcp://127.0.0.1:5003, 
http+tcp://127.0.0.1:5003, http+tcp://127.0.0.1:5003, 
http+tcp://127.0.0.1:5002, http+tcp://127.0.0.1:5001, 
http+tcp://127.0.0.1:5001, http+tcp://127.0.0.1:5001): http code: 307, 
body: 
2016-06-28T07:06:56Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:57Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:58Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:06:59Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:00Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:01Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:02Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:03Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:04Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:05Z [24113] WARNING {heartbeat} heartbeat could not be 
sent to agency endpoints (http+tcp://127.0.0.1:5002, 
http+tcp://127.0.0.1:5003, http+tcp://127.0.0.1:5003, 
http+tcp://127.0.0.1:5003, http+tcp://127.0.0.1:5002, 
http+tcp://127.0.0.1:5002, http+tcp://127.0.0.1:5001, 
http+tcp://127.0.0.1:5001, http+tcp://127.0.0.1:5001): http code: 307, 
body: 
2016-06-28T07:07:05Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:06Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:07Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:09Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:10Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:13Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:13Z [24113] ERROR {heartbeat} Could not read 
Current/Version from agency.
2016-06-28T07:07:28Z [24113] INFO plan change handling successful


And the agents start using all cpu resources until the system becomes 
almost unresponsive.

At that time, the agents are logging following messages:

2016-06-28T07:06:52Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:06:52Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:06:54Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:06:57Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:06:58Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:06:58Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:02Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:02Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:10Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:13Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:25Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:30Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:30Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:33Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:07:43Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:08:24Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:08:34Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:08:54Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:08:55Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:09:14Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:09:25Z [23997] WARNING {agency} I have a higher term than RPC 
caller.


When I stop the primary server again via ctrl-c, after some time the cpu 
usage starts to decrease but the memory is increasing rapidly, finally 
taking up all system memory and swap, in the end freezing the whole system.
At this point the agents start to log following messages:

2016-06-28T07:12:34Z [23478] WARNING {queries} slow query: 'FOR s in 
@@collection FILTER s.time >= @start SORT s.time desc LIMIT 1 RETURN s', 
took 26.345204
2016-06-28T07:12:43Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:13:05Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:13:10Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:13:20Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:13:23Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:13:39Z [23997] WARNING {agency} I have a higher term than RPC 
caller.
2016-06-28T07:15:23Z [23478] WARNING {queries} slow query: 'FOR s in 
@@collection FILTER s.time >= @start SORT s.time desc LIMIT 1 RETURN s', 
took 22.091859
2016-06-28T07:21:06Z [23478] WARNING {queries} slow query: 'FOR s in 
@@collection FILTER s.time >= @start SORT s.time desc LIMIT 1 RETURN s', 
took 17.283082
2016-06-28T07:22:26Z [23478] WARNING {queries} slow query: 'FOR s in 
@@collection FILTER s.time >= @start SORT s.time desc LIMIT 1 RETURN s', 
took 19.252867
2016-06-28T07:22:26Z [23478] WARNING {queries} slow query: 'FOR s in 
@@collection FILTER s.time >= @start SORT s.time desc LIMIT 1 RETURN s', 
took 40.744055
[...]


So the initial issue with the agents seems to be resolved, but it's 
definitely still not working correctly

Bart


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