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This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on decentralized ergodic coverage. Our approach demonstrates reliable and dynamic control of a swarm collective through the use of ergodic specifications for planning and executing agent trajectories asarXiv:2006.06081v1 fatcat:rxf4mmszyna3ljyuqixtie3b6y