Scientists in Brussels have developed a new architecture for controlling a swarm of robots through centralized control. The new architecture uses a dynamic self-configuring control network that forms hierarchical structures. In it, robots occupy temporal positions, similar to the human nervous system, where the brain acts as a datacenter. In a SoNS (self-organizing nervous system) control network, each robot interacts only with its nearest neighbors. This avoids bottlenecks and ensures coordination of recognition and decision making. At the same time, without sacrificing the advantages of self-organization, such as scalability and fault tolerance. The SoNS architecture allows the swarm to be programmed as a single entity. The concept has been tested in simulations involving up to 250 aerial and ground drones, as well as in experimental tests with real devices. The test results demonstrated effective coordination of a large number of robots