{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:5RQM7MCHSQQBHE7CCVLVV4Z27I","short_pith_number":"pith:5RQM7MCH","canonical_record":{"source":{"id":"2109.12343","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T11:25:02Z","cross_cats_sorted":["cs.LG","cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"d44294908f16e0e80f63bb085e94643f69269d767a06ab294559dc15402fb2f3","abstract_canon_sha256":"2cd4fd1f09a4eaff551c4d0886ed4899744e01b8a224d5b33eae2dabec91b576"},"schema_version":"1.0"},"canonical_sha256":"ec60cfb04794201393e215575af33afa326beac6a6d68ce406db8c9f6cf9b60f","source":{"kind":"arxiv","id":"2109.12343","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.12343","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"arxiv_version","alias_value":"2109.12343v1","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12343","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_12","alias_value":"5RQM7MCHSQQB","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_16","alias_value":"5RQM7MCHSQQBHE7C","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_8","alias_value":"5RQM7MCH","created_at":"2026-07-05T03:17:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:5RQM7MCHSQQBHE7CCVLVV4Z27I","target":"record","payload":{"canonical_record":{"source":{"id":"2109.12343","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T11:25:02Z","cross_cats_sorted":["cs.LG","cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"d44294908f16e0e80f63bb085e94643f69269d767a06ab294559dc15402fb2f3","abstract_canon_sha256":"2cd4fd1f09a4eaff551c4d0886ed4899744e01b8a224d5b33eae2dabec91b576"},"schema_version":"1.0"},"canonical_sha256":"ec60cfb04794201393e215575af33afa326beac6a6d68ce406db8c9f6cf9b60f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:17:19.438569Z","signature_b64":"QMi4o34ZP/bWQ6LgLHhS47qT2nYZbx5/MWr1iBlhpV4CEzMw4K7qV0YFsPemnDRYF8Vvat47KJDF9+UqW7ZmCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ec60cfb04794201393e215575af33afa326beac6a6d68ce406db8c9f6cf9b60f","last_reissued_at":"2026-07-05T03:17:19.438059Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:17:19.438059Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.12343","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":"2026-07-05T03:17:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RRZAq0AQPV1xtHTFCitaA7Yydb8tDBvNP9ElZYkKymGzN30rXoY9IKlcC1PoAGw9sVBeCHjIBP8i/lDu8veiDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T00:09:12.874039Z"},"content_sha256":"ed01d60e00fb0ddc551e11964a2375d41881ae7adf568828217489bec5efa556","schema_version":"1.0","event_id":"sha256:ed01d60e00fb0ddc551e11964a2375d41881ae7adf568828217489bec5efa556"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:5RQM7MCHSQQBHE7CCVLVV4Z27I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.MA","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Amanda Prorok, Brian M. Sadler, Gaurav S. Sukhatme, Luca Carlone, Matthew Malencia, Vijay Kumar","submitted_at":"2021-09-25T11:25:02Z","abstract_excerpt":"Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries. These conditions are idealistic, and often not satisfiable. Resilience on the other hand is the capability to endure unexpected disruptions, to recover swiftly from negative events, and bounce back to normality. In this survey article, we analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12343","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2109.12343/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T03:17:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YnI1jcNEHt7Y/luBwmhPFmHeDEKoazBifkcTHp15vn/EsxxWSD3cvE3ofeznh1Nurtrvihk0L7WLGehwf0AIBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T00:09:12.874417Z"},"content_sha256":"8f7444c546842aa20996e0bebb0449c917a34fef8cc4ddf6a4fcfcd6a895ab2b","schema_version":"1.0","event_id":"sha256:8f7444c546842aa20996e0bebb0449c917a34fef8cc4ddf6a4fcfcd6a895ab2b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/bundle.json","state_url":"https://pith.science/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/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":"2026-08-18T00:09:12Z","links":{"resolver":"https://pith.science/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I","bundle":"https://pith.science/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/bundle.json","state":"https://pith.science/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5RQM7MCHSQQBHE7CCVLVV4Z27I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:5RQM7MCHSQQBHE7CCVLVV4Z27I","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":"2cd4fd1f09a4eaff551c4d0886ed4899744e01b8a224d5b33eae2dabec91b576","cross_cats_sorted":["cs.LG","cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T11:25:02Z","title_canon_sha256":"d44294908f16e0e80f63bb085e94643f69269d767a06ab294559dc15402fb2f3"},"schema_version":"1.0","source":{"id":"2109.12343","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.12343","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"arxiv_version","alias_value":"2109.12343v1","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.12343","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_12","alias_value":"5RQM7MCHSQQB","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_16","alias_value":"5RQM7MCHSQQBHE7C","created_at":"2026-07-05T03:17:19Z"},{"alias_kind":"pith_short_8","alias_value":"5RQM7MCH","created_at":"2026-07-05T03:17:19Z"}],"graph_snapshots":[{"event_id":"sha256:8f7444c546842aa20996e0bebb0449c917a34fef8cc4ddf6a4fcfcd6a895ab2b","target":"graph","created_at":"2026-07-05T03:17:19Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2109.12343/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries. These conditions are idealistic, and often not satisfiable. Resilience on the other hand is the capability to endure unexpected disruptions, to recover swiftly from negative events, and bounce back to normality. In this survey article, we analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by ","authors_text":"Amanda Prorok, Brian M. Sadler, Gaurav S. Sukhatme, Luca Carlone, Matthew Malencia, Vijay Kumar","cross_cats":["cs.LG","cs.MA","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T11:25:02Z","title":"Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.12343","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:ed01d60e00fb0ddc551e11964a2375d41881ae7adf568828217489bec5efa556","target":"record","created_at":"2026-07-05T03:17:19Z","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":"2cd4fd1f09a4eaff551c4d0886ed4899744e01b8a224d5b33eae2dabec91b576","cross_cats_sorted":["cs.LG","cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-09-25T11:25:02Z","title_canon_sha256":"d44294908f16e0e80f63bb085e94643f69269d767a06ab294559dc15402fb2f3"},"schema_version":"1.0","source":{"id":"2109.12343","kind":"arxiv","version":1}},"canonical_sha256":"ec60cfb04794201393e215575af33afa326beac6a6d68ce406db8c9f6cf9b60f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ec60cfb04794201393e215575af33afa326beac6a6d68ce406db8c9f6cf9b60f","first_computed_at":"2026-07-05T03:17:19.438059Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:17:19.438059Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QMi4o34ZP/bWQ6LgLHhS47qT2nYZbx5/MWr1iBlhpV4CEzMw4K7qV0YFsPemnDRYF8Vvat47KJDF9+UqW7ZmCg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:17:19.438569Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.12343","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed01d60e00fb0ddc551e11964a2375d41881ae7adf568828217489bec5efa556","sha256:8f7444c546842aa20996e0bebb0449c917a34fef8cc4ddf6a4fcfcd6a895ab2b"],"state_sha256":"2722df34657cccb91b90a30fa399c037ef63e9d7a39514ddcb21457e7068adcb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tOVnNZ5RGpcRZKkUGRfA3lcjtMD3zE5F9EwbERgSrP37ADfXeDHKZ6oj6e0KYFxzkgAK/5HCPInlIfGM/dn+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T00:09:12.877314Z","bundle_sha256":"fb44afd6eb2f7025d9bdf058cda85714558a31f18a0098d0fdb01ca01792f411"}}