{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:732EJEXNRDQH7HB7JGKGTWBRG2","short_pith_number":"pith:732EJEXN","canonical_record":{"source":{"id":"2303.02962","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-06T08:33:04Z","cross_cats_sorted":["cs.AI","cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"7da7d60a86f9fd457733ac1c50de306d0aa9441d7f0d0ff37b2361f72127bd50","abstract_canon_sha256":"531d8a4e217a7efdfbf217dd2c6f3d319a024550f7e622d54ca23eb2ba6e8f80"},"schema_version":"1.0"},"canonical_sha256":"fef44492ed88e07f9c3f499469d8313685da93c259f281d60fef0879373898bd","source":{"kind":"arxiv","id":"2303.02962","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.02962","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"arxiv_version","alias_value":"2303.02962v1","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.02962","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_12","alias_value":"732EJEXNRDQH","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_16","alias_value":"732EJEXNRDQH7HB7","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_8","alias_value":"732EJEXN","created_at":"2026-07-05T05:48:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:732EJEXNRDQH7HB7JGKGTWBRG2","target":"record","payload":{"canonical_record":{"source":{"id":"2303.02962","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-06T08:33:04Z","cross_cats_sorted":["cs.AI","cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"7da7d60a86f9fd457733ac1c50de306d0aa9441d7f0d0ff37b2361f72127bd50","abstract_canon_sha256":"531d8a4e217a7efdfbf217dd2c6f3d319a024550f7e622d54ca23eb2ba6e8f80"},"schema_version":"1.0"},"canonical_sha256":"fef44492ed88e07f9c3f499469d8313685da93c259f281d60fef0879373898bd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:48:17.617433Z","signature_b64":"gBDpoApRjBx4jiMeDOY4GeQ4Lur/bIwLjjxEs2aKgjptJOeHENXbiJGhh+eBYIQLdvyMA93BhNTJM8e6AM++DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fef44492ed88e07f9c3f499469d8313685da93c259f281d60fef0879373898bd","last_reissued_at":"2026-07-05T05:48:17.616896Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:48:17.616896Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.02962","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":"2026-07-05T05:48:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8LgJfxdJzjyEyP6jO+RJA1cbYNzgHjGxu5wxBTEpbxPHk5lu3kvkgd+4OWvnRQal8h74b9754sRERdoTqXvWBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T22:26:10.277324Z"},"content_sha256":"66ff8a101a81402339a4d10a6ea00ce5260712deb5138911be42b9e008900c56","schema_version":"1.0","event_id":"sha256:66ff8a101a81402339a4d10a6ea00ce5260712deb5138911be42b9e008900c56"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:732EJEXNRDQH7HB7JGKGTWBRG2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.MA","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Martin Saska, Matej Petrlik, Pavel Petracek, Tomas Baca, Vit Kratky","submitted_at":"2023-03-06T08:33:04Z","abstract_excerpt":"Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles (UAVs) to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise collision-free operation at great heights. The proposed multi-robot approach allows for performing tasks requiring dynamic scene illumination in large-scale real-world scenarios, a process pre"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.02962","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/2303.02962/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":"2026-07-05T05:48:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yLmBo+aVchuBAM95dEVhvztPy1Hqz1O1pWMacsdsc6OPquchiRiLM8RJeXJ1yl5SSD3hMfbJhNOLqfYA8SB6DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T22:26:10.277834Z"},"content_sha256":"2ca4bd3ace74083d2b3795bc60228dd0f3e80629d328d3afd519b650fbe5d13e","schema_version":"1.0","event_id":"sha256:2ca4bd3ace74083d2b3795bc60228dd0f3e80629d328d3afd519b650fbe5d13e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/732EJEXNRDQH7HB7JGKGTWBRG2/bundle.json","state_url":"https://pith.science/pith/732EJEXNRDQH7HB7JGKGTWBRG2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/732EJEXNRDQH7HB7JGKGTWBRG2/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":"2026-08-20T22:26:10Z","links":{"resolver":"https://pith.science/pith/732EJEXNRDQH7HB7JGKGTWBRG2","bundle":"https://pith.science/pith/732EJEXNRDQH7HB7JGKGTWBRG2/bundle.json","state":"https://pith.science/pith/732EJEXNRDQH7HB7JGKGTWBRG2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/732EJEXNRDQH7HB7JGKGTWBRG2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:732EJEXNRDQH7HB7JGKGTWBRG2","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":"531d8a4e217a7efdfbf217dd2c6f3d319a024550f7e622d54ca23eb2ba6e8f80","cross_cats_sorted":["cs.AI","cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-06T08:33:04Z","title_canon_sha256":"7da7d60a86f9fd457733ac1c50de306d0aa9441d7f0d0ff37b2361f72127bd50"},"schema_version":"1.0","source":{"id":"2303.02962","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.02962","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"arxiv_version","alias_value":"2303.02962v1","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.02962","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_12","alias_value":"732EJEXNRDQH","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_16","alias_value":"732EJEXNRDQH7HB7","created_at":"2026-07-05T05:48:17Z"},{"alias_kind":"pith_short_8","alias_value":"732EJEXN","created_at":"2026-07-05T05:48:17Z"}],"graph_snapshots":[{"event_id":"sha256:2ca4bd3ace74083d2b3795bc60228dd0f3e80629d328d3afd519b650fbe5d13e","target":"graph","created_at":"2026-07-05T05:48:17Z","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/2303.02962/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Digital documentation of large interiors of historical buildings is an exhausting task since most of the areas of interest are beyond typical human reach. We advocate the use of autonomous teams of multi-rotor Unmanned Aerial Vehicles (UAVs) to speed up the documentation process by several orders of magnitude while allowing for a repeatable, accurate, and condition-independent solution capable of precise collision-free operation at great heights. The proposed multi-robot approach allows for performing tasks requiring dynamic scene illumination in large-scale real-world scenarios, a process pre","authors_text":"Martin Saska, Matej Petrlik, Pavel Petracek, Tomas Baca, Vit Kratky","cross_cats":["cs.AI","cs.MA","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-06T08:33:04Z","title":"New Era in Cultural Heritage Preservation: Cooperative Aerial Autonomy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.02962","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":"sha256:66ff8a101a81402339a4d10a6ea00ce5260712deb5138911be42b9e008900c56","target":"record","created_at":"2026-07-05T05:48:17Z","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":"531d8a4e217a7efdfbf217dd2c6f3d319a024550f7e622d54ca23eb2ba6e8f80","cross_cats_sorted":["cs.AI","cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-03-06T08:33:04Z","title_canon_sha256":"7da7d60a86f9fd457733ac1c50de306d0aa9441d7f0d0ff37b2361f72127bd50"},"schema_version":"1.0","source":{"id":"2303.02962","kind":"arxiv","version":1}},"canonical_sha256":"fef44492ed88e07f9c3f499469d8313685da93c259f281d60fef0879373898bd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fef44492ed88e07f9c3f499469d8313685da93c259f281d60fef0879373898bd","first_computed_at":"2026-07-05T05:48:17.616896Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:48:17.616896Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gBDpoApRjBx4jiMeDOY4GeQ4Lur/bIwLjjxEs2aKgjptJOeHENXbiJGhh+eBYIQLdvyMA93BhNTJM8e6AM++DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:48:17.617433Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.02962","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:66ff8a101a81402339a4d10a6ea00ce5260712deb5138911be42b9e008900c56","sha256:2ca4bd3ace74083d2b3795bc60228dd0f3e80629d328d3afd519b650fbe5d13e"],"state_sha256":"59ddeeae68253c48c8740c060424667695382cb00a7e84bed50a89fd3ff6fbdd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xDcX6sqHJNftyFp7/CgfMgYFIVmnlVc6y8MKmFby3QWrbVH2mU50ytOYSTDyi/6CA5SghPaU0cKjV9FQU13ZAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T22:26:10.281745Z","bundle_sha256":"79092b36bdf460d8f1a72801c64d641a298eae84c8f001e6d0982236c149691c"}}