Zip ties do a good job of keeping masses of wiring neat, and can be easily cut away if needed.
Also labeling speed controllers and fuses helps. Especially with CAN when the jaguars have addresses.
Example of one of the boards i did that initially wasn't great, but zip ties made it much neater and easier to follow wires:
http://www.vandenrobotics.com/plogge...n/sn850239.JPG