{"paper":{"title":"Swarical: An Integrated Hierarchical Approach to Localizing Flying Light Specks","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.MM","authors_text":"Hamed Alimohammadzadeh, Shahram Ghandeharizadeh","submitted_at":"2026-05-22T15:42:40Z","abstract_excerpt":"Swarical, a Swarm-based hierarchical localization technique, enables miniature drones, known as Flying Light Specks (FLSs), to accurately and efficiently localize and illuminate complex 2D and 3D shapes. Its accuracy depends on the physical hardware (sensors) of FLSs, which are used to track neighboring FLSs in order to localize themselves. It uses the hardware specification to convert mesh files into point clouds that enable a swarm of FLSs to localize at the highest accuracy afforded by their hardware. Swarical considers a heterogeneous mix of FLSs with different orientations for their track"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23774","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.23774/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}