The Internet of Things (IoT) is revolutionizing society by enabling everyday life objects with processing and communication. The Swarm is an edge-centric IoT approach in which independent, cross-niche, and heterogeneous devices can cooperate with each other to execute tasks synergistically. Access control is indispensable for the Swarm, as it ensures confidentiality and ownership, and prevents cyber-attacks since only authorized services can communicate. Although many access control models do exist, there is a lack of edge-based and easy-to-use access control systems in the consumer electronics field. This paper presents a distributed attribute-based access control system for the Swarm. It features a distributed policy management GUI that allows users to setup policies for IoT devices in a decentralized way. The proposed system is evaluated according to a set of national institute of standards and technologies quality metrics, and it is also subject to a performance evaluation. Results indicate that the system offers good usability factors and can handle from 10 000 to 6 billion services when considering, respectively, an arbitrary graph density of 20% and a social-based graph density of 0.000034%.