  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.
