If you prefer reading, please visit Auto-Scaling Docker Swarm Services Using Instrumented Metrics tutorial from Docker Flow Monitor documentation. Otherwise, feel free to watch the video that follows.
The DevOps 2.2 Toolkit: Self-Sufficient Docker Clusters
The article you just read is the summary of the progress we made in The DevOps 2.2 Toolkit: Self-Healing Docker Clusters. You can find the hands-on exercises that build the system in the book.
If you liked this article, you might be interested in The DevOps 2.2 Toolkit: Self-Sufficient Docker Clusters book. The book goes beyond Docker and schedulers and tries to explore ways for building self-adaptive and self-healing Docker clusters. If you are a Docker user and want to explore advanced techniques for creating clusters and managing services, this book might be just what you're looking for.
Give the book a try and let me know what you think.