Interactive Methodology to Iteratively Add Functionality to Swarm Programs

In this paper we present a technique for adding functionality to swarm programs leveraging both human observation and mechanical program transformation. The technique combines two homogeneous swarms - one that executes a baseline set of behaviors and another that independently implements the new functionality. The two are combined into a heterogeneous swarm with which humans interact to establish effective population ratios between the two, to produce the best outcome. The two behavioral rulesets are then mechanically fused to create a new homogeneous swarm that exhibits both behaviors. This swarm becomes the new baseline to which additional behaviors can be added by repeating the process. We demonstrate this technique in a simulated swarm environment.