We try the impossible and summarize almost all we have learned in this book. In this little case study, we try to integrate all the different techniques that one requires to design a system of swarm robots. The task is rather simple, and we focus on adaptive aggregation, that is, the swarm has to aggregate at a particular spot determined by environmental features. We follow a biological role model and apply standard modeling techniques of swarm robotics. Finally, the control algorithm and the micro–macro model are verified against robot experiments.