Of course! Its called OpenID Connect Dynamic Client Registration. You also see the OpenID Connect Discovery Spec:
http://openid.net/connect
The specific links are:
http://openid.net/specs/openid-connect-registration-1_0.html
http://openid.net/specs/openid-connect-discovery-1_0.html
We have API docs at:
http://www.gluu.org/docs/reference/api
thx,
Mike