{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:2SFI2RRAWJFQVJB7BSYU6SLQFC","short_pith_number":"pith:2SFI2RRA","canonical_record":{"source":{"id":"1812.05296","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2018-12-13T07:31:54Z","cross_cats_sorted":[],"title_canon_sha256":"c1ff4cf7b89b9a73978bf20227589a2e9e59b41d12aeb6ffe42d2b3d704aeb8f","abstract_canon_sha256":"2ff565537c59a92f32c0bb8505287d15cc607cf075327579348cbef5f5e97262"},"schema_version":"1.0"},"canonical_sha256":"d48a8d4620b24b0aa43f0cb14f497028a7bed59a38d32376429e753b4bceea25","source":{"kind":"arxiv","id":"1812.05296","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.05296","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"arxiv_version","alias_value":"1812.05296v1","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.05296","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"pith_short_12","alias_value":"2SFI2RRAWJFQ","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"2SFI2RRAWJFQVJB7","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"2SFI2RRA","created_at":"2026-05-18T12:32:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:2SFI2RRAWJFQVJB7BSYU6SLQFC","target":"record","payload":{"canonical_record":{"source":{"id":"1812.05296","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2018-12-13T07:31:54Z","cross_cats_sorted":[],"title_canon_sha256":"c1ff4cf7b89b9a73978bf20227589a2e9e59b41d12aeb6ffe42d2b3d704aeb8f","abstract_canon_sha256":"2ff565537c59a92f32c0bb8505287d15cc607cf075327579348cbef5f5e97262"},"schema_version":"1.0"},"canonical_sha256":"d48a8d4620b24b0aa43f0cb14f497028a7bed59a38d32376429e753b4bceea25","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:58:23.900081Z","signature_b64":"oKGZJ9n7OvC0M4sqE4v1DaLDhVbCwDxe03d2fAEoiLhAJOJhk4tZH46ZrGU5JXF8d45VlDl+2f0MTJpJGwbZDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d48a8d4620b24b0aa43f0cb14f497028a7bed59a38d32376429e753b4bceea25","last_reissued_at":"2026-05-17T23:58:23.899542Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:58:23.899542Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1812.05296","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:58:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tFJgnkSUK+z2DbgtmjM0s8Ps/77QpF1GkJCn0sEVK0mgtjHtCJFitKoK86keB1UkcCchciFkgVFu74gjrQG6Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T17:16:44.673475Z"},"content_sha256":"9249d15abf8146605f6c580d18df4a8238052c154506cbac4735e52a0dd351e2","schema_version":"1.0","event_id":"sha256:9249d15abf8146605f6c580d18df4a8238052c154506cbac4735e52a0dd351e2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:2SFI2RRAWJFQVJB7BSYU6SLQFC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Aerial Robot Model based design and verification of the single and multi-agent inspection application development","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.MA","authors_text":"Ankit A. Ravankar, Filip Karolonek, Masaru Sakuma, Seiko P. Yamaguchi, Tadeusz Uhl, Takaki Ueno, Takanori Emaru, Yukinori Kobayashi","submitted_at":"2018-12-13T07:31:54Z","abstract_excerpt":"In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simula"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.05296","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":""},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:58:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T4oCYZ8RdZVgC2hgotXr1urmHesf78dgrennJzZ1xGXzK0Z7rFtyRg/6pVxr5DXfwCmktlPfIh6GmpgJIVfgDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T17:16:44.674163Z"},"content_sha256":"8b8f888b92cda2e90be1ba230822e580009c1a90c976d929d42ac1697fd893e9","schema_version":"1.0","event_id":"sha256:8b8f888b92cda2e90be1ba230822e580009c1a90c976d929d42ac1697fd893e9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/bundle.json","state_url":"https://pith.science/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-08T17:16:44Z","links":{"resolver":"https://pith.science/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC","bundle":"https://pith.science/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/bundle.json","state":"https://pith.science/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2SFI2RRAWJFQVJB7BSYU6SLQFC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:2SFI2RRAWJFQVJB7BSYU6SLQFC","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"2ff565537c59a92f32c0bb8505287d15cc607cf075327579348cbef5f5e97262","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2018-12-13T07:31:54Z","title_canon_sha256":"c1ff4cf7b89b9a73978bf20227589a2e9e59b41d12aeb6ffe42d2b3d704aeb8f"},"schema_version":"1.0","source":{"id":"1812.05296","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.05296","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"arxiv_version","alias_value":"1812.05296v1","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.05296","created_at":"2026-05-17T23:58:23Z"},{"alias_kind":"pith_short_12","alias_value":"2SFI2RRAWJFQ","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_16","alias_value":"2SFI2RRAWJFQVJB7","created_at":"2026-05-18T12:32:02Z"},{"alias_kind":"pith_short_8","alias_value":"2SFI2RRA","created_at":"2026-05-18T12:32:02Z"}],"graph_snapshots":[{"event_id":"sha256:8b8f888b92cda2e90be1ba230822e580009c1a90c976d929d42ac1697fd893e9","target":"graph","created_at":"2026-05-17T23:58:23Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simula","authors_text":"Ankit A. Ravankar, Filip Karolonek, Masaru Sakuma, Seiko P. Yamaguchi, Tadeusz Uhl, Takaki Ueno, Takanori Emaru, Yukinori Kobayashi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2018-12-13T07:31:54Z","title":"Aerial Robot Model based design and verification of the single and multi-agent inspection application development"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.05296","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:9249d15abf8146605f6c580d18df4a8238052c154506cbac4735e52a0dd351e2","target":"record","created_at":"2026-05-17T23:58:23Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"2ff565537c59a92f32c0bb8505287d15cc607cf075327579348cbef5f5e97262","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2018-12-13T07:31:54Z","title_canon_sha256":"c1ff4cf7b89b9a73978bf20227589a2e9e59b41d12aeb6ffe42d2b3d704aeb8f"},"schema_version":"1.0","source":{"id":"1812.05296","kind":"arxiv","version":1}},"canonical_sha256":"d48a8d4620b24b0aa43f0cb14f497028a7bed59a38d32376429e753b4bceea25","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d48a8d4620b24b0aa43f0cb14f497028a7bed59a38d32376429e753b4bceea25","first_computed_at":"2026-05-17T23:58:23.899542Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:58:23.899542Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oKGZJ9n7OvC0M4sqE4v1DaLDhVbCwDxe03d2fAEoiLhAJOJhk4tZH46ZrGU5JXF8d45VlDl+2f0MTJpJGwbZDQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:58:23.900081Z","signed_message":"canonical_sha256_bytes"},"source_id":"1812.05296","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9249d15abf8146605f6c580d18df4a8238052c154506cbac4735e52a0dd351e2","sha256:8b8f888b92cda2e90be1ba230822e580009c1a90c976d929d42ac1697fd893e9"],"state_sha256":"d1fa03a5ba01bbf2f0b235b96e881871b02157588996fc5e1b5ee23cdedcb8b6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dsmmPTE90WhdXSpf3xQtql2d+Akg+UmpgJg7FVp6PIJ618K6BvtsRBGmfaAg2GkxuZ4NiJsqXL3vO0o5tneZBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T17:16:44.677896Z","bundle_sha256":"7e554f9a9010a0f3a6b1e53a2ee9494e249f840f06a363e912773fa843b49c7f"}}