{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:5SM3MAFGB6RZ2PW37VGVDAI77T","short_pith_number":"pith:5SM3MAFG","canonical_record":{"source":{"id":"1901.00758","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-28T20:07:48Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"c12b97c97026801fee6f4e988b6b866eb1bd632caed649ed8dfa1e9baf6272b0","abstract_canon_sha256":"5873644f5b92cea4dde9b047b612a0c9c251dadeb78edea3ae4ce7283b68321a"},"schema_version":"1.0"},"canonical_sha256":"ec99b600a60fa39d3edbfd4d51811ffcc7a0e9dfcf6e02437b77cf669672ddef","source":{"kind":"arxiv","id":"1901.00758","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.00758","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"arxiv_version","alias_value":"1901.00758v1","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.00758","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"pith_short_12","alias_value":"5SM3MAFGB6RZ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5SM3MAFGB6RZ2PW3","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5SM3MAFG","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:5SM3MAFGB6RZ2PW37VGVDAI77T","target":"record","payload":{"canonical_record":{"source":{"id":"1901.00758","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-28T20:07:48Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"c12b97c97026801fee6f4e988b6b866eb1bd632caed649ed8dfa1e9baf6272b0","abstract_canon_sha256":"5873644f5b92cea4dde9b047b612a0c9c251dadeb78edea3ae4ce7283b68321a"},"schema_version":"1.0"},"canonical_sha256":"ec99b600a60fa39d3edbfd4d51811ffcc7a0e9dfcf6e02437b77cf669672ddef","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:57:01.360123Z","signature_b64":"/dCloA2E3EOONsI3dP2uhdpjPC9CYiq+/K+ixyCB9FXqW97UNNAKmAo8U0LGaKwl1ZKlh4rrqnEF0tM3/84DBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ec99b600a60fa39d3edbfd4d51811ffcc7a0e9dfcf6e02437b77cf669672ddef","last_reissued_at":"2026-05-17T23:57:01.359531Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:57:01.359531Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1901.00758","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":"2026-05-17T23:57:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AwE960GMswlCc3bnOxB4I57IOQw4QCS7e0ILExgOuuBuly7WE4P+Jng3qmsyKecdS7w8H6LuLy14cS1TSTlyAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:39:58.854300Z"},"content_sha256":"509e428dffc994d40b5f739907dc5896742b823850704a4cea69f107c756777d","schema_version":"1.0","event_id":"sha256:509e428dffc994d40b5f739907dc5896742b823850704a4cea69f107c756777d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:5SM3MAFGB6RZ2PW37VGVDAI77T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cooperation of Multiple Autonomous Robots and Analysis of their Swarm Behavior","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Bogdan Czejdo, Sambit Bhattacharya, Waldemar Grabski, Wiktor B. Daszczuk","submitted_at":"2018-12-28T20:07:48Z","abstract_excerpt":"In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behavior. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.00758","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":"2026-05-17T23:57:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FunNjFRCfAxvj1RTh7uNbI5tW39i2auxTtdQpxjR+obDMNs+mx1+2c3/AFWAcqLKCYNObWpZsULb1SgNykd1AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:39:58.854681Z"},"content_sha256":"dc19e0faf71bb5e1ca5240dc916fe48281404b9b6203a3dfc277ed51afe0e18d","schema_version":"1.0","event_id":"sha256:dc19e0faf71bb5e1ca5240dc916fe48281404b9b6203a3dfc277ed51afe0e18d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/bundle.json","state_url":"https://pith.science/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/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":"2026-06-01T19:39:58Z","links":{"resolver":"https://pith.science/pith/5SM3MAFGB6RZ2PW37VGVDAI77T","bundle":"https://pith.science/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/bundle.json","state":"https://pith.science/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5SM3MAFGB6RZ2PW37VGVDAI77T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5SM3MAFGB6RZ2PW37VGVDAI77T","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":"5873644f5b92cea4dde9b047b612a0c9c251dadeb78edea3ae4ce7283b68321a","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-28T20:07:48Z","title_canon_sha256":"c12b97c97026801fee6f4e988b6b866eb1bd632caed649ed8dfa1e9baf6272b0"},"schema_version":"1.0","source":{"id":"1901.00758","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.00758","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"arxiv_version","alias_value":"1901.00758v1","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.00758","created_at":"2026-05-17T23:57:01Z"},{"alias_kind":"pith_short_12","alias_value":"5SM3MAFGB6RZ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5SM3MAFGB6RZ2PW3","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5SM3MAFG","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:dc19e0faf71bb5e1ca5240dc916fe48281404b9b6203a3dfc277ed51afe0e18d","target":"graph","created_at":"2026-05-17T23:57:01Z","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 extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behavior. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robo","authors_text":"Bogdan Czejdo, Sambit Bhattacharya, Waldemar Grabski, Wiktor B. Daszczuk","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-28T20:07:48Z","title":"Cooperation of Multiple Autonomous Robots and Analysis of their Swarm Behavior"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.00758","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":"sha256:509e428dffc994d40b5f739907dc5896742b823850704a4cea69f107c756777d","target":"record","created_at":"2026-05-17T23:57:01Z","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":"5873644f5b92cea4dde9b047b612a0c9c251dadeb78edea3ae4ce7283b68321a","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-28T20:07:48Z","title_canon_sha256":"c12b97c97026801fee6f4e988b6b866eb1bd632caed649ed8dfa1e9baf6272b0"},"schema_version":"1.0","source":{"id":"1901.00758","kind":"arxiv","version":1}},"canonical_sha256":"ec99b600a60fa39d3edbfd4d51811ffcc7a0e9dfcf6e02437b77cf669672ddef","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ec99b600a60fa39d3edbfd4d51811ffcc7a0e9dfcf6e02437b77cf669672ddef","first_computed_at":"2026-05-17T23:57:01.359531Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:57:01.359531Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/dCloA2E3EOONsI3dP2uhdpjPC9CYiq+/K+ixyCB9FXqW97UNNAKmAo8U0LGaKwl1ZKlh4rrqnEF0tM3/84DBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:57:01.360123Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.00758","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:509e428dffc994d40b5f739907dc5896742b823850704a4cea69f107c756777d","sha256:dc19e0faf71bb5e1ca5240dc916fe48281404b9b6203a3dfc277ed51afe0e18d"],"state_sha256":"382b58b70492b904f61f5e65c6bbccee7fff016c2b1cb99cdc0d1b354c601ba7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dlvPsecgfxtr2nz9QAAKHM0yxAM8hZvRPQSbmvM1GOEIBvPu+TWoZ+L8SKDZoG5/WZv/axCeq6cvZh57/xrxDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T19:39:58.856676Z","bundle_sha256":"18627fefe99eb8eaa1c507f63d37c74e95f9a2d495d1b95b017f5b8ee9ff7f4a"}}