  We present a game benchmark for testing human-swarm control algorithms and
interfaces in a real-time, high-cadence scenario. Our benchmark consists of a
swarm vs. swarm game in a virtual ROS environment in which the goal of the game
is to capture all agents from the opposing swarm; the game's high-cadence is a
result of the capture rules, which cause agent team sizes to fluctuate rapidly.
These rules require players to consider both the number of agents currently at
their disposal and the behavior of their opponent's swarm when they plan
actions. We demonstrate our game benchmark with a default human-swarm control
system that enables a player to interact with their swarm through a high-level
touchscreen interface. The touchscreen interface transforms player gestures
into swarm control commands via a low-level decentralized ergodic control
framework. We compare our default human-swarm control system to a
flocking-based control system, and discuss traits that are crucial for swarm
control algorithms and interfaces operating in real-time, high-cadence
scenarios like our game benchmark. Our game benchmark code is available on
Github; more information can be found at
https://sites.google.com/view/swarm-game-benchmark.
