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Probably not in the short term because the products are targeted at different market segments. Kubernetes, as one would expect for a Google product is targeted at operations staff. Docker Swarm, like Docker, is targeted bottom up from individual developers. Swarm extends Docker. Kubernetes extends servers.
Take a look at https://www.cncf.io/blog/2017/12/06/cloud-native-technologie.... It already has, more or less.