Your paper is interesting. Can you share a link to a video of your simulator in action? Better, is the code still live? It appears that you allowed the user to switch modes between global commands and "attract/repulse". What modes did the users prefer?

The term "assistive swarming" is intriguing. In future work, we'd like to simulate interacting with an intelligent swarm, perhaps a group of Boids (http://en.wikipedia.org/wiki/Boids). Our current work is inspired by micro/nano setups by colleagues here at Rice, and RPI, Drexel, and Harvard -- see the videos page for an overview: http://swarmcontrol.herokuapp.com/videos