{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:7EDNJUOWQ2QDUA6OIDR6CFZT7O","short_pith_number":"pith:7EDNJUOW","canonical_record":{"source":{"id":"2607.10170","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T07:20:20Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e736dd10d777013b43360cb05df19e19e97d754817cc57fc8b78cd5b71a2796a","abstract_canon_sha256":"b3eccf9646ca97639af8e48b1a604c93afea0cae32eeb4c2f7be5edbc054bc84"},"schema_version":"1.0"},"canonical_sha256":"f906d4d1d686a03a03ce40e3e11733fb88529a752446fe719a78ebf25c0ac3ec","source":{"kind":"arxiv","id":"2607.10170","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.10170","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"arxiv_version","alias_value":"2607.10170v1","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10170","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_12","alias_value":"7EDNJUOWQ2QD","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_16","alias_value":"7EDNJUOWQ2QDUA6O","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_8","alias_value":"7EDNJUOW","created_at":"2026-07-14T01:20:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:7EDNJUOWQ2QDUA6OIDR6CFZT7O","target":"record","payload":{"canonical_record":{"source":{"id":"2607.10170","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T07:20:20Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"e736dd10d777013b43360cb05df19e19e97d754817cc57fc8b78cd5b71a2796a","abstract_canon_sha256":"b3eccf9646ca97639af8e48b1a604c93afea0cae32eeb4c2f7be5edbc054bc84"},"schema_version":"1.0"},"canonical_sha256":"f906d4d1d686a03a03ce40e3e11733fb88529a752446fe719a78ebf25c0ac3ec","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-14T01:20:28.583269Z","signature_b64":"wPKuqqwb9JsgNhrpwTSjEpzcalElTOzuIpWaqmIztj6gS8hSVSN/rI6yfR+b0JFqHc6q4Tu6gdDo+D+kibZyAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f906d4d1d686a03a03ce40e3e11733fb88529a752446fe719a78ebf25c0ac3ec","last_reissued_at":"2026-07-14T01:20:28.582396Z","signature_status":"signed_v1","first_computed_at":"2026-07-14T01:20:28.582396Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.10170","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":"2026-07-14T01:20:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2AfHm4gkPrhegsbFyGsPGpTJfCIWc2hHCQQG9kRQS9Hu14SXvb38RJzj8vMHwF717qpwTLJhfmly/hlCYh45CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T14:56:32.653827Z"},"content_sha256":"21a7de89440c914d3ea9fc15c9091097cfd662cc75dda8658d8d2fc22bc8e6e6","schema_version":"1.0","event_id":"sha256:21a7de89440c914d3ea9fc15c9091097cfd662cc75dda8658d8d2fc22bc8e6e6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:7EDNJUOWQ2QDUA6OIDR6CFZT7O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Pushpak Jagtap, Saharsh, Vedhas Talnikar","submitted_at":"2026-07-11T07:20:20Z","abstract_excerpt":"Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for hete"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10170","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/2607.10170/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":"2026-07-14T01:20:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"taPTjnMtWhrW3xv6OhXk3riHLoThGldZUCKCgXlPN4q6qqJVZyp74ekg3GcvnMMOhxj1W9bgsTa5Mc+GfwUVCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T14:56:32.654342Z"},"content_sha256":"c9e07f800438d4e8b547779aab3267d114759e7571c9c2fe2d4224cf6c354234","schema_version":"1.0","event_id":"sha256:c9e07f800438d4e8b547779aab3267d114759e7571c9c2fe2d4224cf6c354234"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/bundle.json","state_url":"https://pith.science/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/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":"2026-08-05T14:56:32Z","links":{"resolver":"https://pith.science/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O","bundle":"https://pith.science/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/bundle.json","state":"https://pith.science/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7EDNJUOWQ2QDUA6OIDR6CFZT7O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:7EDNJUOWQ2QDUA6OIDR6CFZT7O","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":"b3eccf9646ca97639af8e48b1a604c93afea0cae32eeb4c2f7be5edbc054bc84","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T07:20:20Z","title_canon_sha256":"e736dd10d777013b43360cb05df19e19e97d754817cc57fc8b78cd5b71a2796a"},"schema_version":"1.0","source":{"id":"2607.10170","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.10170","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"arxiv_version","alias_value":"2607.10170v1","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10170","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_12","alias_value":"7EDNJUOWQ2QD","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_16","alias_value":"7EDNJUOWQ2QDUA6O","created_at":"2026-07-14T01:20:28Z"},{"alias_kind":"pith_short_8","alias_value":"7EDNJUOW","created_at":"2026-07-14T01:20:28Z"}],"graph_snapshots":[{"event_id":"sha256:c9e07f800438d4e8b547779aab3267d114759e7571c9c2fe2d4224cf6c354234","target":"graph","created_at":"2026-07-14T01:20:28Z","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/2607.10170/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Communication graph rigidity is a fundamental requirement in many multi robot formation control approaches. However, ensuring and maintaining a rigid communication topology becomes challenging in practice due to limited sensing ranges and dynamic operating conditions. This paper provides a method for achieving an inter robot collision free, rigid time varying communication graph, where communication links are established or broken according to limited sensing ranges, without assuming an initial rigid graph. In addition, the proposed approach guarantees the realization of a rigid graph for hete","authors_text":"Pushpak Jagtap, Saharsh, Vedhas Talnikar","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T07:20:20Z","title":"From Non-Rigid to Rigid: Safe Acquisition of Rigid Communication Graphs under Limited Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10170","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":"sha256:21a7de89440c914d3ea9fc15c9091097cfd662cc75dda8658d8d2fc22bc8e6e6","target":"record","created_at":"2026-07-14T01:20:28Z","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":"b3eccf9646ca97639af8e48b1a604c93afea0cae32eeb4c2f7be5edbc054bc84","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-11T07:20:20Z","title_canon_sha256":"e736dd10d777013b43360cb05df19e19e97d754817cc57fc8b78cd5b71a2796a"},"schema_version":"1.0","source":{"id":"2607.10170","kind":"arxiv","version":1}},"canonical_sha256":"f906d4d1d686a03a03ce40e3e11733fb88529a752446fe719a78ebf25c0ac3ec","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f906d4d1d686a03a03ce40e3e11733fb88529a752446fe719a78ebf25c0ac3ec","first_computed_at":"2026-07-14T01:20:28.582396Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-14T01:20:28.582396Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wPKuqqwb9JsgNhrpwTSjEpzcalElTOzuIpWaqmIztj6gS8hSVSN/rI6yfR+b0JFqHc6q4Tu6gdDo+D+kibZyAg==","signature_status":"signed_v1","signed_at":"2026-07-14T01:20:28.583269Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.10170","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:21a7de89440c914d3ea9fc15c9091097cfd662cc75dda8658d8d2fc22bc8e6e6","sha256:c9e07f800438d4e8b547779aab3267d114759e7571c9c2fe2d4224cf6c354234"],"state_sha256":"6310622a0316b2d121be69637ae40ca61100a3b439e200958a91fbe2c3c0ee89"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eIk/iyjKPnxX/kR5V5YsGPOlIs66HZHdSIi5xGj9BDYFA1X1ZNqwiLo6QtSKvAmzYVTSVBuE1TDp2pmwl6l4Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T14:56:32.657986Z","bundle_sha256":"0664ac5e35a8cb6db7a911f16417577ab3d40d28731aface94b3171116d9ebd2"}}