Fecha de publicación: 02/04/2020 Fuente: WIPO "swarm" Systems, apparatus, and methods to coordinate a robot swarm include an analyzer to create a planning message based on data associated with a first bot and a second bot. The planning message is communicated to the swarm from a first source. In addition, a scheduler issues a first assignment of a first operation slot and a first role to the first bot based on the planning message, issues a second assignment of a second operation slot and a second role to the second bot based on the planning message, and creates a decision message including the first assignment and the second assignment. The decision message is communicated to the swarm from a second source different than the first source.