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.

翻译：本配套论文提供了再现ACM Multimedia 2024论文《Swarical: 一种面向飞行光点定位的集成层次化方法》中实验所需的工件与操作指南。基于群体智能的层次化方法Swarical是一种定位技术，能使微型无人机——飞行光点（Flying Light Specks, FLSs）——精准高效地对复杂二维与三维形状进行定位与照明。该方法包含两大组件：离线规划器与在线定位技术（在FLS上执行）。离线规划器利用FLS传感器的定位规格，将网格文件转化为FLS群体。部分FLS处于暗态，仅用于定位。我们已证明该在线定位技术具有快速与高精度特性。下文将阐述如何利用我们的工件复现这一发现。