A heterogeneous swarm system is a distributed system where participants come and go, communication topology may change at any time, data replication is asynchronous and partial, and local agents behave differently between nodes. These systems are hard to design and reason about, mainly because we desire a particular class of behaviors to emerge from the interplay of heterogeneous individual agents. Nevertheless, mission-critical operations like manufacturing process orchestration in factories use such systems due to their uncompromising availability and resilience of computing services.