What are the current bottlenecks in developing swarm robots to perform real-world tasks?

A developer is working on a graduation project to build an open-source framework for full-stack development managing agent swarms, aiming to support robotics developers in building homogeneous and heterogeneous swarms, covering the robotics stack from simulation to telemetry. They are soliciting the community on Reddit r/robotics about the current state of development stacks and pain points, hoping the framework will not remain at the paper level but be put to practical use.