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More information  about this video is in these papers:

1. Jon Roach, Robert J. Marks II and Benjamin B. Thompson, "Tactical Task Allocation and Resource Management in Non-Stationary Swarm Dynamics," 2013 International Joint Conference on Neural Networks (IJCNN), Dallas, Texas, August 4-9, 2013.
2. Jon H. Roach, Benjamin B. Thompson, and Robert J. Marks II, "Mapping an Underwater Minefield with a Multi-State Swarm and the Effects of Swarm Size on Performance"
3. Jon H. Roach, Robert J. Marks II, and Benjamin B. Thompson, "Evolutionary Recovery from Sensor Failure in a Trained Multi-objective Swarm"
4. Jon H. Roach, Benjamin B. Thompson, and Robert J. Marks II, "Emergent Behaviors of Multi-Objective Multi-State Swarms in Dynamic Underwater Scenarios"