Wasp scrum down

I was up on Mynydd Rhiw enjoying the summer weather with fine views across Llŷn. At the summit were loads of insects and on the rocks by my feet was a wasp scrum down. It looked a bit violent and I didn’t want to get too close in case I disturbed them.

Looking back at the film footage it looks like 6 or 7 wasps were killing a queen. Or were they mating?

In the middle sequence there was a pair of wasps stacked on top of the back of the queen whilst another stack of 4 wasps approached from the front. Was the wasp at the front a brave volunteer to confront the queen or a conscript?