Below is an example of how the structure of the United States military might map to Swarm. A Swarm is a temporal container and physical home for a set of agents in the system. Swarms can contain other Swarms. The diamonds are agents. In Swarm, an agent has no built-in semantics.
Nothing related to scheduling is pictured below, just the hierarchies of localized activity.
A Schedule is an agent's to-do list. An Action is something that happens in the world, e.g. a solider that shoots a gun, a captain that orders an engagement, or the president declaring war. In Swarm, Schedules and Actions are typically closely associated with an agent or model component.