SwarMer: A Decentralized Localization Framework for Flying Light Specks

Swarm-Merging, SwarMer, is a decentralized framework to localize Flying Light Specks (FLSs) to render 2D and 3D shapes. An FLS is a miniature sized drone equipped with one or more light sources to generate different colors and textures with adjustable brightness. It is battery powered, network enabled with storage and processing capability to implement a decentralized algorithm such as SwarMer. An FLS is unable to render a shape by itself. SwarMer uses the inter-FLS relationship effect of its organizational framework to compensate for the simplicity of each individual FLS, enabling a swarm of cooperating FLSs to render complex shapes. SwarMer is resilient to both FLSs failing and FLSs leaving to charge their battery. It is fast, highly accurate, and scales to remain effective when a shape consists of a large number of FLSs.Comment: Source code available at https://github.com/flyinglightspeck/SwarMer. See https://youtu.be/BIiBxD_aUz8 for a MATLAB demonstration of SwarMer, https://youtu.be/Lh11tWWOP5Y for two relative localization techniques as SwarMer plugins. SwarMer is able to transition FLSs from illuminating one point cloud to the next point cloud, see https://youtu.be/4GhhlSq4Ur

The Subset Assignment Problem for Data Placement in Caches

We introduce the subset assignment problem in which items of varying sizes are placed in a set of bins with limited capacity. Items can be replicated and placed in any subset of the bins. Each (item, subset) pair has an associated cost. Not assigning an item to any of the bins is not free in general and can potentially be the most expensive option. The goal is to minimize the total cost of assigning items to subsets without exceeding the bin capacities. This problem is motivated by the design of caching systems composed of banks of memory with varying cost/performance specifications. The ability to replicate a data item in more than one memory bank can benefit the overall performance of the system with a faster recovery time in the event of a memory failure. For this setting, the number n of data objects (items) is very large and the number d of memory banks (bins) is a small constant (on the order of 3 or 4). Therefore, the goal is to determine an optimal assignment in time that minimizes dependence on n. The integral version of this problem is NP-hard since it is a generalization of the knapsack problem. We focus on an efficient solution to the LP relaxation as the number of fractionally assigned items will be at most d. If the data objects are small with respect to the size of the memory banks, the effect of excluding the fractionally assigned data items from the cache will be small. We give an algorithm that solves the LP relaxation and runs in time O(binom{3^d}{d+1} poly(d) n log(n) log(nC) log(Z)), where Z is the maximum item size and C the maximum storage cost

An Evaluation of Three Distance Measurement Technologies for Flying Light Specks

This study evaluates the accuracy of three different types of time-of-flight sensors to measure distance. We envision the possible use of these sensors to localize swarms of flying light specks (FLSs) to illuminate objects and avatars of a metaverse. An FLS is a miniature-sized drone configured with RGB light sources. It is unable to illuminate a point cloud by itself. However, the inter-FLS relationship effect of an organizational framework will compensate for the simplicity of each individual FLS, enabling a swarm of cooperating FLSs to illuminate complex shapes and render haptic interactions. Distance between FLSs is an important criterion of the inter-FLS relationship. We consider sensors that use radio frequency (UWB), infrared light (IR), and sound (ultrasonic) to quantify this metric. Obtained results show only one sensor is able to measure distances as small as 1 cm with a high accuracy. A sensor may require a calibration process that impacts its accuracy in measuring distance.Comment: In International Conference on Intelligent Metaverse Technologies and Applications (iMETA2023), Tartu, Estonia, September 18-20, 202

An evaluation of alternative continuous media replication techniques in wireless peer-to-peer networks

This study investigates a novel streaming architecture consisting of home-to-home online (H2O) devices that collaborate to provide on-demand access to a large selection of audio and video clips. An H2O device consists of a high bandwidth wireless communication component, a powerful processor, and gigabytes of storage. This study investigates three families of replication strategies for a H2O cloud. We evaluate these using analytical models. The obtained results demonstrate the superiority of one strategy that determines the number of replicas for a clip based on (a) the bandwidth required to display clip proportional to the bandwidth required by the other clips in the database, and (b) the square root of the frequency of access to the clips

An evaluation of alternative continuous media replication techniques in wireless peer-to-peer networks

Appeal from the decision rendered by Judge Lynn. W. Davis, Fourth District Court, State of Uta

Dronevision: An Experimental 3D Testbed for Flying Light Specks

Today's robotic laboratories for drones are housed in a large room. At times, they are the size of a warehouse. These spaces are typically equipped with permanent devices to localize the drones, e.g., Vicon Infrared cameras. Significant time is invested to fine-tune the localization apparatus to compute and control the position of the drones. One may use these laboratories to develop a 3D multimedia system with miniature sized drones configured with light sources. As an alternative, this brave new idea paper envisions shrinking these room-sized laboratories to the size of a cube or cuboid that sits on a desk and costs less than 10K dollars. The resulting Dronevision (DV) will be the size of a 1990s Television. In addition to light sources, its Flying Light Specks (FLSs) will be network-enabled drones with storage and processing capability to implement decentralized algorithms. The DV will include a localization technique to expedite development of 3D displays. It will act as a haptic interface for a user to interact with and manipulate the 3D virtual illuminations. It will empower an experimenter to design, implement, test, debug, and maintain software and hardware that realize novel algorithms in the comfort of their office without having to reserve a laboratory. In addition to enhancing productivity, it will improve safety of the experimenter by minimizing the likelihood of accidents. This paper introduces the concept of a DV, the research agenda one may pursue using this device, and our plans to realize one