I've driven only i10, Swift and Figo in the list. Here are my personal experience.
i10 Sportz - Powerful engine, nice interiors, good built-in music system/speakers, gives 16 km/L mileage on city roads.
Ford Figo - less powerful engine than i10, good interiors ( i find it even better than i10), gives 12km/L mileage on city roads, large boot space, smooth handling, car of the year 2011.
Swift - Powerful engine, didn't like interior quality, gives 12km/L mileage on city roads, smooth handling, large boot space.
I'd reckon either Figo or i10, depends on what you want.