{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:76PKWXEXOYH6DFSF6FPQGSNXBH","short_pith_number":"pith:76PKWXEX","canonical_record":{"source":{"id":"1704.02075","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-04-07T02:54:29Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5ca103975262cbe349d5c3bd11c7a2f5ff9dc75b7e30f1021a92996f298fbaa6","abstract_canon_sha256":"af190e00f93bc30a71f3739a2e9f739d6a70fa57fe2bbb1f871451686dbf1bdf"},"schema_version":"1.0"},"canonical_sha256":"ff9eab5c97760fe19645f15f0349b709dba8a9e3a7a21b26e843faf3b34bb68b","source":{"kind":"arxiv","id":"1704.02075","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1704.02075","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"1704.02075v1","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1704.02075","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"76PKWXEXOYH6","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"76PKWXEXOYH6DFSF","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"76PKWXEX","created_at":"2026-05-18T12:31:03Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:76PKWXEXOYH6DFSF6FPQGSNXBH","target":"record","payload":{"canonical_record":{"source":{"id":"1704.02075","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-04-07T02:54:29Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5ca103975262cbe349d5c3bd11c7a2f5ff9dc75b7e30f1021a92996f298fbaa6","abstract_canon_sha256":"af190e00f93bc30a71f3739a2e9f739d6a70fa57fe2bbb1f871451686dbf1bdf"},"schema_version":"1.0"},"canonical_sha256":"ff9eab5c97760fe19645f15f0349b709dba8a9e3a7a21b26e843faf3b34bb68b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:46:50.877126Z","signature_b64":"gUpZTmgAs4eZQBg9f+egU4hA7VhmUqmBJW5RG8KGviuJE+FsTbdFJ7NZhLl4MexXG4Dvsv+58wEZqZJYSjr0Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff9eab5c97760fe19645f15f0349b709dba8a9e3a7a21b26e843faf3b34bb68b","last_reissued_at":"2026-05-18T00:46:50.876599Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:46:50.876599Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1704.02075","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":"2026-05-18T00:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cXS3Fc/mr5RqLcLVdOoQDukH1MJGPeC3ZCssH1IQPOOTpjkwfphc5G53yIpB648xHo6TrqFg7C208eNQlLHWBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:18:39.387266Z"},"content_sha256":"c7ea392234b2cb5e495cda945c033b8ac0f225994c293b9f4e4aa1a3d23f04b9","schema_version":"1.0","event_id":"sha256:c7ea392234b2cb5e495cda945c033b8ac0f225994c293b9f4e4aa1a3d23f04b9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:76PKWXEXOYH6DFSF6FPQGSNXBH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On Sensing, Agility, and Computation Requirements for a Data-gathering Agile Robotic Vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Fangchang Ma, Sertac Karaman","submitted_at":"2017-04-07T02:54:29Z","abstract_excerpt":"We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics involving drift and that the locations of the data sources are Poisson-distributed. In this setting, we characterize the performance of the robot in terms of its sensing, agility, and computation capabilities. More specifically, the robot's performance is characterized in terms of its ability to sense the target locations from a distance, to maneuver quickly, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.02075","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":"2026-05-18T00:46:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s4d3OsXxRlSctE+E8sNKadrLnw1miZeMDczTJO82L83oPZ5Z8fyaS6JsNBCN/p26nSW6ZNZZ0RLYBaQXPy+RCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:18:39.387928Z"},"content_sha256":"5948c33aba6440e72571380752caa8e6a4ab33e23312124877f08c77f6e197c5","schema_version":"1.0","event_id":"sha256:5948c33aba6440e72571380752caa8e6a4ab33e23312124877f08c77f6e197c5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/bundle.json","state_url":"https://pith.science/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/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":"2026-05-26T01:18:39Z","links":{"resolver":"https://pith.science/pith/76PKWXEXOYH6DFSF6FPQGSNXBH","bundle":"https://pith.science/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/bundle.json","state":"https://pith.science/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/76PKWXEXOYH6DFSF6FPQGSNXBH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:76PKWXEXOYH6DFSF6FPQGSNXBH","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":"af190e00f93bc30a71f3739a2e9f739d6a70fa57fe2bbb1f871451686dbf1bdf","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-04-07T02:54:29Z","title_canon_sha256":"5ca103975262cbe349d5c3bd11c7a2f5ff9dc75b7e30f1021a92996f298fbaa6"},"schema_version":"1.0","source":{"id":"1704.02075","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1704.02075","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"arxiv_version","alias_value":"1704.02075v1","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1704.02075","created_at":"2026-05-18T00:46:50Z"},{"alias_kind":"pith_short_12","alias_value":"76PKWXEXOYH6","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"76PKWXEXOYH6DFSF","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"76PKWXEX","created_at":"2026-05-18T12:31:03Z"}],"graph_snapshots":[{"event_id":"sha256:5948c33aba6440e72571380752caa8e6a4ab33e23312124877f08c77f6e197c5","target":"graph","created_at":"2026-05-18T00:46:50Z","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":"We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics involving drift and that the locations of the data sources are Poisson-distributed. In this setting, we characterize the performance of the robot in terms of its sensing, agility, and computation capabilities. More specifically, the robot's performance is characterized in terms of its ability to sense the target locations from a distance, to maneuver quickly, ","authors_text":"Fangchang Ma, Sertac Karaman","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-04-07T02:54:29Z","title":"On Sensing, Agility, and Computation Requirements for a Data-gathering Agile Robotic Vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.02075","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:c7ea392234b2cb5e495cda945c033b8ac0f225994c293b9f4e4aa1a3d23f04b9","target":"record","created_at":"2026-05-18T00:46:50Z","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":"af190e00f93bc30a71f3739a2e9f739d6a70fa57fe2bbb1f871451686dbf1bdf","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-04-07T02:54:29Z","title_canon_sha256":"5ca103975262cbe349d5c3bd11c7a2f5ff9dc75b7e30f1021a92996f298fbaa6"},"schema_version":"1.0","source":{"id":"1704.02075","kind":"arxiv","version":1}},"canonical_sha256":"ff9eab5c97760fe19645f15f0349b709dba8a9e3a7a21b26e843faf3b34bb68b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff9eab5c97760fe19645f15f0349b709dba8a9e3a7a21b26e843faf3b34bb68b","first_computed_at":"2026-05-18T00:46:50.876599Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:46:50.876599Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gUpZTmgAs4eZQBg9f+egU4hA7VhmUqmBJW5RG8KGviuJE+FsTbdFJ7NZhLl4MexXG4Dvsv+58wEZqZJYSjr0Cw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:46:50.877126Z","signed_message":"canonical_sha256_bytes"},"source_id":"1704.02075","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c7ea392234b2cb5e495cda945c033b8ac0f225994c293b9f4e4aa1a3d23f04b9","sha256:5948c33aba6440e72571380752caa8e6a4ab33e23312124877f08c77f6e197c5"],"state_sha256":"b5236457422dc8b9dec4ab72799bfcd308be1c30b6dce035d8ac0d037bf75b69"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"osMxniF+tAzKeeTIAwM8HGUyPDmZFxaCgovaI8Ie93uXrgZBk4eQRJDD8VSl1ejsCeM5g5YgUUHRdpwqQo2jAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T01:18:39.391336Z","bundle_sha256":"795e1720f4fb71f697dc6d2f79d42848c584da90cc5f7165164306d681895ef1"}}