“…8,10,15,[17][18][19][20] Algorithms for efficient control and programming of such swarms have been extensively studied via theory 20,21 and experiment in both synthetic 22 and natural systems, from motor proteins and filaments 23,24 to single-celled organisms 2,8,25,26 to insects 27 to macroscopic robots. 20,21,28 For microbiological swarms, "interactive biology" setups have enabled both professionals and non-experts to interact and experiment with swarm agents in real-time for research and edutainment purposes, e.g., through biology cloud experimentation laboratories, 29,30 museum exhibits, 31 or biotic games. 32,33,38 While most of these platforms had been developed ground-up to support a single application, more expressive, general purpose setups with a larger degree of programmability are desirable for applications involving swarm control of microscopic agents.…”