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We present Buzz, a novel programming language for heterogeneous robot swarms.Buzz advocates a compositional approach, offering primitives to define swarmbehaviors both from the perspective of the single robot and of the overallswarm. Single-robot primitives include robot-specific instructions andmanipulation of neighborhood data. Swarm-based primitives allow for the dynamicmanagement of robot teams, and for sharing information globally across theswarm. Self-organization stems from the completely decentralized mechanismsupon which the Buzz run-time platform is based. The language can be extended toadd new primitives (thus supporting heterogeneous robot swarms), and itsrun-time platform is designed to be laid on top of other frameworks, such asRobot Operating System. We showcase the capabilities of Buzz by providing codeexamples, and analyze scalability and robustness of the run-time platformthrough realistic simulated experiments with representative swarm algorithms.

Buzz: An Extensible Programming Language for Self-Organizing Heterogeneous Robot Swarms