{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:3THQ3SJVPRR7X2QPXYY2YKEVT6","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":"b980f99f911f295a37c8ccd5de57c1366f353603ee8be088d221d9b5f1aa1717","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-07-12T09:03:14Z","title_canon_sha256":"e43137c9217a02aa35cec4df0c842c387dc71e4583f0507f117f3e613d6b0a02"},"schema_version":"1.0","source":{"id":"1507.03206","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1507.03206","created_at":"2026-05-18T01:31:29Z"},{"alias_kind":"arxiv_version","alias_value":"1507.03206v2","created_at":"2026-05-18T01:31:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1507.03206","created_at":"2026-05-18T01:31:29Z"},{"alias_kind":"pith_short_12","alias_value":"3THQ3SJVPRR7","created_at":"2026-05-18T12:29:02Z"},{"alias_kind":"pith_short_16","alias_value":"3THQ3SJVPRR7X2QP","created_at":"2026-05-18T12:29:02Z"},{"alias_kind":"pith_short_8","alias_value":"3THQ3SJV","created_at":"2026-05-18T12:29:02Z"}],"graph_snapshots":[{"event_id":"sha256:4fc88c1561d322f97d6f7d2601f95feb6e640e66146241c9f1991785d6c7254d","target":"graph","created_at":"2026-05-18T01:31:29Z","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 this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The proposed robust mapping technique constructs a topological map of the environment using only encounter information from the swarm. A sliding window strategy is adopted in conjunction with a topological mapping strategy based on local interactions among the swarm in a coordinate-free fashion to obtain local maps of the environment. These maps are then merged i","authors_text":"Alireza Dirafzoon, Alper Bozkurt, Edgar Lobaton","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-07-12T09:03:14Z","title":"Dynamic Topological Mapping with Biobotic Swarms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1507.03206","kind":"arxiv","version":2},"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":"sha256:01cf7f7da75c90d99c12879d43807996a1f2cb2471998a1e84322c09c5631831","target":"record","created_at":"2026-05-18T01:31:29Z","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":"b980f99f911f295a37c8ccd5de57c1366f353603ee8be088d221d9b5f1aa1717","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-07-12T09:03:14Z","title_canon_sha256":"e43137c9217a02aa35cec4df0c842c387dc71e4583f0507f117f3e613d6b0a02"},"schema_version":"1.0","source":{"id":"1507.03206","kind":"arxiv","version":2}},"canonical_sha256":"dccf0dc9357c63fbea0fbe31ac28959fbe78b1faf0e62021bbcc44ab741e7754","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dccf0dc9357c63fbea0fbe31ac28959fbe78b1faf0e62021bbcc44ab741e7754","first_computed_at":"2026-05-18T01:31:29.711569Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:31:29.711569Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eqRZ/A6d6aycG6IpBLQU5Wn1QnpPDWG4BsV8cE/sY+ZQc7hBN0Q8nlgrEbJVsucnTcXxRQE5acjlrMFUnnSkBg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:31:29.712160Z","signed_message":"canonical_sha256_bytes"},"source_id":"1507.03206","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:01cf7f7da75c90d99c12879d43807996a1f2cb2471998a1e84322c09c5631831","sha256:4fc88c1561d322f97d6f7d2601f95feb6e640e66146241c9f1991785d6c7254d"],"state_sha256":"948c292db88fc89af0013dbbe05d7f21f7b49c80c2ebb38ef31740ad83c10a0a"}