Reproducibility Companion Paper: Swarical: An Integrated Hierarchical Approach to Localizing Flying Light Specks
arXiv:2605.26313 · doi:10.1145/3746027.3759199
Abstract
This companion paper provides artifacts and instructions on replicating the experiments in the ACM Multimedia 2024 paper entitled "Swarical: An Integrated Hierarchical Approach to Localizing Flying Light Specks." Swarm-based hierarchical, Swarical, is a localization technique that enables miniature drones, Flying Light Specks (FLSs), to accurately and efficiently localize and illuminate complex 2D and 3D shapes. It consists of two components, an offline planner and an online localization technique that executes on an FLS. The offline planner uses the FLS sensor specification for positioning to convert mesh files into swarms of FLSs. Some FLSs are dark and used only for localization. We reported the online localization technique to be fast and highly accurate. We describe how to reproduce this finding using our artifacts.
Reproducibility is one of the foundations of reliable science and engineering. This paper establishes the reproducibility of the Swarical decentralized technique by colleagues in Italy and Iceland. Appeared in Proceedings of the 33rd ACM International Conference on Multimedia (MM '25), October 27-31, 2025, Dublin, Ireland. ACM, New York, NY, USA, 5 pages