I read the paper. It didn't need to be a programming language.
The paper has three separate parts: a mechanism for adapting standalone robots of multiple designs and with different roles, into a complex, goal-achieving swarm. First, it does this by coordinating tasks and flocking behavior through "virtual stigmergy." Stigmergy is how ants and bees coordinate: they leave traces in the environment that indicate task, distance and direction to task target, and when those traces pass a threshold some or all of the swarm *acts*. It's a cool idea, although flocking and stigmergy can be found in video games as old as the original Pac-Man and Rip-Off.
Second, they expose the virtual stigmergy and awareness of swarm membership and swarm member locations through an interface (hardware and software) that sits on top of the usual robot command & control. They've written a VM that handles the real-time data management associated with these new "awarenesses."
Third, they write an independent language targeted at their VM, with native access to the swarm(), member(), and stigmergy() objects. The language looks like Javascript. The authors aren't great language writers; they even comment about "the jargon of object-oriented programming."
There was another paper: "Micro Virtual Machines as Solid Foundation for Language Development," that they would have benefited much from reading. If they'd targeted their VM to *just* handle the hardware, specialty concurrency issues, and garbage collection, and left everything else up to independent language writers, they wouldn't be asking people to program their robots in two different languages (one for swarm management, one for robot management), and the language people could have created highly optimizing compilers, libraries and languages targeted at doing virtual stigmergy well.