{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:54XIVGGQG7DN5GTDPPFY4PO3OK","short_pith_number":"pith:54XIVGGQ","canonical_record":{"source":{"id":"1901.05510","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-16T19:49:24Z","cross_cats_sorted":[],"title_canon_sha256":"d6f7f54114a99d3bc558b2ce296fcc9afbf40aff090e51bee1481cf8101ca284","abstract_canon_sha256":"8708b3a66f68dc47a04e6e6a41df6859c7ba55aca58f1064694228e43967a9d4"},"schema_version":"1.0"},"canonical_sha256":"ef2e8a98d037c6de9a637bcb8e3ddb7298f840a0189b7aeae0db51b4d8056c31","source":{"kind":"arxiv","id":"1901.05510","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.05510","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"arxiv_version","alias_value":"1901.05510v1","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.05510","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"pith_short_12","alias_value":"54XIVGGQG7DN","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"54XIVGGQG7DN5GTD","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"54XIVGGQ","created_at":"2026-05-18T12:33:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:54XIVGGQG7DN5GTDPPFY4PO3OK","target":"record","payload":{"canonical_record":{"source":{"id":"1901.05510","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-16T19:49:24Z","cross_cats_sorted":[],"title_canon_sha256":"d6f7f54114a99d3bc558b2ce296fcc9afbf40aff090e51bee1481cf8101ca284","abstract_canon_sha256":"8708b3a66f68dc47a04e6e6a41df6859c7ba55aca58f1064694228e43967a9d4"},"schema_version":"1.0"},"canonical_sha256":"ef2e8a98d037c6de9a637bcb8e3ddb7298f840a0189b7aeae0db51b4d8056c31","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:56:08.925596Z","signature_b64":"0LZ/sj0A8g2KjlvlG8FzbMEnE5J+mylOEhbe0X2xVECAL9BNCN8qgETCIQ4Yb18fb8T0iIdaSerwV3JlmmC0DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ef2e8a98d037c6de9a637bcb8e3ddb7298f840a0189b7aeae0db51b4d8056c31","last_reissued_at":"2026-05-17T23:56:08.925022Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:56:08.925022Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1901.05510","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":"2026-05-17T23:56:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vwdSgNa+3QHW/rg3kcgr/QKZkJRyJ/F2qRpvMciBwUO2d+xBZ7FOrM04ofQHY3sbA9FalffkUwNnQG2jaOzXCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T20:50:19.580420Z"},"content_sha256":"bdafe4604d4e4048a33a96ea388e0e72383386673123259591b6e7c1870cbe6a","schema_version":"1.0","event_id":"sha256:bdafe4604d4e4048a33a96ea388e0e72383386673123259591b6e7c1870cbe6a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:54XIVGGQG7DN5GTDPPFY4PO3OK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous visual inspection of large-scale infrastructures using aerial robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christoforos Kanellakis, Dariusz Kominiak, Emil Fresk, George Nikolakopoulos, Sina Sharif Mansouri","submitted_at":"2019-01-16T19:49:24Z","abstract_excerpt":"This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The proposed aerial inspection system reaches high level of autonomy on a large scale, while pushing to the boundaries the real life deployment of aerial robotics. In the presented approach, the MAVs deployed for the inspection of the structure rely only on their onboard computer and sensory systems. The developed framework envisions a modular system, combining "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.05510","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":"2026-05-17T23:56:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QUIZxg5PPc0PmAWARoOnqPcgyYIZW7qrdtMYZ0acWAo3cdWQ6TZxh9qnTpItvpVVkAB8NyZzFoxhIEYBXoFzDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T20:50:19.581070Z"},"content_sha256":"1701300d7c97bd1d2a5e548be9eb21caf832ac51bb3c94444b73e2f4daf934f9","schema_version":"1.0","event_id":"sha256:1701300d7c97bd1d2a5e548be9eb21caf832ac51bb3c94444b73e2f4daf934f9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/bundle.json","state_url":"https://pith.science/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/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":"2026-05-27T20:50:19Z","links":{"resolver":"https://pith.science/pith/54XIVGGQG7DN5GTDPPFY4PO3OK","bundle":"https://pith.science/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/bundle.json","state":"https://pith.science/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/54XIVGGQG7DN5GTDPPFY4PO3OK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:54XIVGGQG7DN5GTDPPFY4PO3OK","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":"8708b3a66f68dc47a04e6e6a41df6859c7ba55aca58f1064694228e43967a9d4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-16T19:49:24Z","title_canon_sha256":"d6f7f54114a99d3bc558b2ce296fcc9afbf40aff090e51bee1481cf8101ca284"},"schema_version":"1.0","source":{"id":"1901.05510","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.05510","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"arxiv_version","alias_value":"1901.05510v1","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.05510","created_at":"2026-05-17T23:56:08Z"},{"alias_kind":"pith_short_12","alias_value":"54XIVGGQG7DN","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_16","alias_value":"54XIVGGQG7DN5GTD","created_at":"2026-05-18T12:33:10Z"},{"alias_kind":"pith_short_8","alias_value":"54XIVGGQ","created_at":"2026-05-18T12:33:10Z"}],"graph_snapshots":[{"event_id":"sha256:1701300d7c97bd1d2a5e548be9eb21caf832ac51bb3c94444b73e2f4daf934f9","target":"graph","created_at":"2026-05-17T23:56:08Z","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":"This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The proposed aerial inspection system reaches high level of autonomy on a large scale, while pushing to the boundaries the real life deployment of aerial robotics. In the presented approach, the MAVs deployed for the inspection of the structure rely only on their onboard computer and sensory systems. The developed framework envisions a modular system, combining ","authors_text":"Christoforos Kanellakis, Dariusz Kominiak, Emil Fresk, George Nikolakopoulos, Sina Sharif Mansouri","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-16T19:49:24Z","title":"Autonomous visual inspection of large-scale infrastructures using aerial robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.05510","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:bdafe4604d4e4048a33a96ea388e0e72383386673123259591b6e7c1870cbe6a","target":"record","created_at":"2026-05-17T23:56:08Z","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":"8708b3a66f68dc47a04e6e6a41df6859c7ba55aca58f1064694228e43967a9d4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-01-16T19:49:24Z","title_canon_sha256":"d6f7f54114a99d3bc558b2ce296fcc9afbf40aff090e51bee1481cf8101ca284"},"schema_version":"1.0","source":{"id":"1901.05510","kind":"arxiv","version":1}},"canonical_sha256":"ef2e8a98d037c6de9a637bcb8e3ddb7298f840a0189b7aeae0db51b4d8056c31","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ef2e8a98d037c6de9a637bcb8e3ddb7298f840a0189b7aeae0db51b4d8056c31","first_computed_at":"2026-05-17T23:56:08.925022Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:08.925022Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0LZ/sj0A8g2KjlvlG8FzbMEnE5J+mylOEhbe0X2xVECAL9BNCN8qgETCIQ4Yb18fb8T0iIdaSerwV3JlmmC0DQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:08.925596Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.05510","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bdafe4604d4e4048a33a96ea388e0e72383386673123259591b6e7c1870cbe6a","sha256:1701300d7c97bd1d2a5e548be9eb21caf832ac51bb3c94444b73e2f4daf934f9"],"state_sha256":"ba650416ce489ae30eb696aba7fc588e7921db472ae3fa71eec77d1564ca0a78"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0anOrEV2Ya9z/ifOhN+WeOKjvzYDywoEMrw9ctOy3VtbBtG3yGJ+QYd0qm1cTxJhvLL60XmS2EgidVYqoLqDCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T20:50:19.584380Z","bundle_sha256":"6c4baf4aef4361388d6a2cc756ec6e32563e99305e184aa66edb767548e851e6"}}