{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:66OAX3HFF6RX7R3A6UHXVRFLDO","short_pith_number":"pith:66OAX3HF","canonical_record":{"source":{"id":"1902.09660","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-25T23:34:53Z","cross_cats_sorted":[],"title_canon_sha256":"a3007b6993d075f5a544e4a84c2b954c65831e55636ef99130dd30c52a937aef","abstract_canon_sha256":"1e8f6e8e32518a74eba2f9fa14ca7d7d016e0282f5f3114ca97f63d24294013e"},"schema_version":"1.0"},"canonical_sha256":"f79c0bece52fa37fc760f50f7ac4ab1bb04faecfb3cefc7c479e36b5a7da964f","source":{"kind":"arxiv","id":"1902.09660","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.09660","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"arxiv_version","alias_value":"1902.09660v3","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.09660","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_12","alias_value":"66OAX3HFF6RX","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_16","alias_value":"66OAX3HFF6RX7R3A","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_8","alias_value":"66OAX3HF","created_at":"2026-07-05T00:26:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:66OAX3HFF6RX7R3A6UHXVRFLDO","target":"record","payload":{"canonical_record":{"source":{"id":"1902.09660","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-25T23:34:53Z","cross_cats_sorted":[],"title_canon_sha256":"a3007b6993d075f5a544e4a84c2b954c65831e55636ef99130dd30c52a937aef","abstract_canon_sha256":"1e8f6e8e32518a74eba2f9fa14ca7d7d016e0282f5f3114ca97f63d24294013e"},"schema_version":"1.0"},"canonical_sha256":"f79c0bece52fa37fc760f50f7ac4ab1bb04faecfb3cefc7c479e36b5a7da964f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:26:06.643430Z","signature_b64":"NX+DTO+EJH8q3N4WvthTtdSroTtfxK75q431zzXr2XkfBi0DZ2YsL2d9u74vVqzZl/GPa2Az3WgGJEq/tv+rDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f79c0bece52fa37fc760f50f7ac4ab1bb04faecfb3cefc7c479e36b5a7da964f","last_reissued_at":"2026-07-05T00:26:06.643029Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:26:06.643029Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1902.09660","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:26:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eoKCf5fWImk/l7jt5f230e2X0xTc5pw/ZOLDvgMFn69bWt1OEEQYofFpaG+uWr0HiUzX4iud31hjTTONEKaMDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:50:15.156206Z"},"content_sha256":"9c1dde9542a67016690d2758b4562e94274a563100fb9b9661191c8a559462d5","schema_version":"1.0","event_id":"sha256:9c1dde9542a67016690d2758b4562e94274a563100fb9b9661191c8a559462d5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:66OAX3HFF6RX7R3A6UHXVRFLDO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Informative Path Planning for Active Field Mapping under Localization Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jen Jen Chung, Juan Nieto, Marija Popovic, Roland Siegwart, Teresa Vidal-Calleja","submitted_at":"2019-02-25T23:34:53Z","abstract_excerpt":"Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.09660","kind":"arxiv","version":3},"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/1902.09660/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":"2026-07-05T00:26:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"10M+OjRqB6AN3kHtBpcExkBR1TVAsrkfnyLSxNHYs9PoPsVQzBEwkl/cF6ileoc0n0g8ab4y9jdoFLoK1kphBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T14:50:15.156602Z"},"content_sha256":"b37d92d9f8fb11be4b13715e7da70ac61c029d7330f6f4bdee4497e669beb4ab","schema_version":"1.0","event_id":"sha256:b37d92d9f8fb11be4b13715e7da70ac61c029d7330f6f4bdee4497e669beb4ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/bundle.json","state_url":"https://pith.science/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/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":"2026-07-07T14:50:15Z","links":{"resolver":"https://pith.science/pith/66OAX3HFF6RX7R3A6UHXVRFLDO","bundle":"https://pith.science/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/bundle.json","state":"https://pith.science/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/66OAX3HFF6RX7R3A6UHXVRFLDO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:66OAX3HFF6RX7R3A6UHXVRFLDO","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":"1e8f6e8e32518a74eba2f9fa14ca7d7d016e0282f5f3114ca97f63d24294013e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-25T23:34:53Z","title_canon_sha256":"a3007b6993d075f5a544e4a84c2b954c65831e55636ef99130dd30c52a937aef"},"schema_version":"1.0","source":{"id":"1902.09660","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.09660","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"arxiv_version","alias_value":"1902.09660v3","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.09660","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_12","alias_value":"66OAX3HFF6RX","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_16","alias_value":"66OAX3HFF6RX7R3A","created_at":"2026-07-05T00:26:06Z"},{"alias_kind":"pith_short_8","alias_value":"66OAX3HF","created_at":"2026-07-05T00:26:06Z"}],"graph_snapshots":[{"event_id":"sha256:b37d92d9f8fb11be4b13715e7da70ac61c029d7330f6f4bdee4497e669beb4ab","target":"graph","created_at":"2026-07-05T00:26:06Z","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/1902.09660/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the ","authors_text":"Jen Jen Chung, Juan Nieto, Marija Popovic, Roland Siegwart, Teresa Vidal-Calleja","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-25T23:34:53Z","title":"Informative Path Planning for Active Field Mapping under Localization Uncertainty"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.09660","kind":"arxiv","version":3},"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":"sha256:9c1dde9542a67016690d2758b4562e94274a563100fb9b9661191c8a559462d5","target":"record","created_at":"2026-07-05T00:26:06Z","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":"1e8f6e8e32518a74eba2f9fa14ca7d7d016e0282f5f3114ca97f63d24294013e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-25T23:34:53Z","title_canon_sha256":"a3007b6993d075f5a544e4a84c2b954c65831e55636ef99130dd30c52a937aef"},"schema_version":"1.0","source":{"id":"1902.09660","kind":"arxiv","version":3}},"canonical_sha256":"f79c0bece52fa37fc760f50f7ac4ab1bb04faecfb3cefc7c479e36b5a7da964f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f79c0bece52fa37fc760f50f7ac4ab1bb04faecfb3cefc7c479e36b5a7da964f","first_computed_at":"2026-07-05T00:26:06.643029Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:26:06.643029Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NX+DTO+EJH8q3N4WvthTtdSroTtfxK75q431zzXr2XkfBi0DZ2YsL2d9u74vVqzZl/GPa2Az3WgGJEq/tv+rDw==","signature_status":"signed_v1","signed_at":"2026-07-05T00:26:06.643430Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.09660","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9c1dde9542a67016690d2758b4562e94274a563100fb9b9661191c8a559462d5","sha256:b37d92d9f8fb11be4b13715e7da70ac61c029d7330f6f4bdee4497e669beb4ab"],"state_sha256":"f2de00f10c820f6e3f76b6b9e056cf379ea2b7acbdce4577e8a77e4fd4a692aa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qIarAU9V6kr8Sg5mBpKPQ3Z0zGRiT/2hJVtTp/K6KuTPgT5Ep8nqmjfsMw+tk6b3AA546rtfPYXY7bBoe6u0Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T14:50:15.158702Z","bundle_sha256":"05bc371206d973223248e834bfc8a720762cd3dd8f71e7118096ae480e52efd0"}}