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Large swarms of autonomous devices are increasing in size and importance.When it comes to controlling the devices of large-scale swarms there are twomain lines of thought. Centralized control, where all decisions - and oftencompute - happen in a centralized back-end cloud system, and distributedcontrol, where edge devices are responsible for selecting and executing taskswith minimal or zero help from a centralized entity. In this work we aim toquantify the trade-offs between the two approaches with respect to taskassignment quality, latency, and reliability. We do so first on a local swarmof 12 programmable drones with a 10-server cluster as the backend cloud, andthen using a validated simulator to study the tail at scale effects of swarmcoordination control. We conclude that although centralized control almostalways outperforms distributed in the quality of its decisions, it facessignificant scalability limitations, and we provide a list of system challengesthat need to be addressed for centralized control to scale.

To Centralize or Not to Centralize: A Tale of Swarm Coordination