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This paper introduces LiSWARM, a low-cost LiDAR system to detect and track individual drones in a large swarm. LiSWARM provides robust and precise localization and recognition of drones in 3D space, which is not possible with state-of-the-art drone tracking systems that rely on radio-frequency (RF), acoustic, or RGB image signatures. It includes (1) an efficient data processing pipeline to process the point clouds, (2) robust priority-aware clustering algorithms to isolate swarm data from the background, (3) a reliable neural network-based algorithm to recognize the drones, and (4) a technique to track the trajectory of every drone in the swarm. We develop the LiSWARM prototype and validate it through both in-lab and field experiments. Notably, we measure its performance during two drone light shows involving 150 and 500 drones and confirm that the system achieves up to 98% accuracy in recognizing drones and reliably tracking drone trajectories. To evaluate the scalability of LiSWARM, we conduct a thorough analysis to benchmark the system’s performance with a swarm consisting of 15,000 drones. The results demonstrate the potential to leverage LiSWARM for other applications, such as battlefield operations, errant drone detection, and securing sensitive areas such as airports and prisons. 

In this paper, we present GEVR, the first Group Event Venue Recommendation system that incorporates mobility via individual location traces and context information into a "social-based" group decision model to provide venue recommendations for groups of mobile users. Our study leverages a real-world dataset collected using the OutWithFriendz mobile app for group event planning, which contains 625 users and over 500 group events. We first develop a novel "social-based" group location prediction model, which adaptively applies different group decision strategies to groups with different social relationship strength to aggregate each group member's location preference, to predict where groups will meet. Evaluation results show that our prediction model not only outperforms commonly used and state-of-the-art group decision strategies with over 80% accuracy for predicting groups' final meeting location clusters, but also provides promising qualities in cold-start scenarios. We then integrate our prediction model with the Foursquare Venue Recommendation API to construct an event venue recommendation framework for groups of mobile users. Evaluation results show that GEVR outperforms the comparative models by a significant margin.