{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:7FW27YLXYYSZEIBW4EGPV5MNZN","short_pith_number":"pith:7FW27YLX","canonical_record":{"source":{"id":"2606.29673","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T00:39:51Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"dc11293228a441fce8f3dd80ff8d0eee137a21149fe4a5a4cc634c258f473261","abstract_canon_sha256":"54822b21e80386106ce9cc165e9559321c73aa1c84d3f3c51936c0c3427ee634"},"schema_version":"1.0"},"canonical_sha256":"f96dafe177c625922036e10cfaf58dcb4009f35f6efddff71f525ecfd4e7193e","source":{"kind":"arxiv","id":"2606.29673","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.29673","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"arxiv_version","alias_value":"2606.29673v1","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29673","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_12","alias_value":"7FW27YLXYYSZ","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_16","alias_value":"7FW27YLXYYSZEIBW","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_8","alias_value":"7FW27YLX","created_at":"2026-06-30T02:17:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:7FW27YLXYYSZEIBW4EGPV5MNZN","target":"record","payload":{"canonical_record":{"source":{"id":"2606.29673","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T00:39:51Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"dc11293228a441fce8f3dd80ff8d0eee137a21149fe4a5a4cc634c258f473261","abstract_canon_sha256":"54822b21e80386106ce9cc165e9559321c73aa1c84d3f3c51936c0c3427ee634"},"schema_version":"1.0"},"canonical_sha256":"f96dafe177c625922036e10cfaf58dcb4009f35f6efddff71f525ecfd4e7193e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-30T02:17:30.201903Z","signature_b64":"3EYDs7/xw67ZCZ99as444k7m//5UOANVu8aXlAPkmhuvjsXjwGU5bD2J02SxPyAhOm4SH5l9gbQkk5r8mXX2BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f96dafe177c625922036e10cfaf58dcb4009f35f6efddff71f525ecfd4e7193e","last_reissued_at":"2026-06-30T02:17:30.201153Z","signature_status":"signed_v1","first_computed_at":"2026-06-30T02:17:30.201153Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.29673","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":"2026-06-30T02:17:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H+uf5YA3UQ/AlqEebPTJh/KRogwjD1xb7wUQgO+eIFlprFMEpgyh1QwjupgSKlnIyFMtmQzLv4dK75BqkI2MCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:10:33.563898Z"},"content_sha256":"224a272b0b602e641da5bb0ce7c579757b192b23db6111404ae6b84817690e55","schema_version":"1.0","event_id":"sha256:224a272b0b602e641da5bb0ce7c579757b192b23db6111404ae6b84817690e55"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:7FW27YLXYYSZEIBW4EGPV5MNZN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Privacy-Preserving Decentralized Cooperative Localization with Range-Only Measurements: A Convex Optimization Based Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Nitesh Kumar, Reyshwanth Ganeshan, Sivakumar Rathinam, Sixu Li, Swaroop Darbha","submitted_at":"2026-06-29T00:39:51Z","abstract_excerpt":"Cooperative localization using range-based measurements is critical for multi-robot systems operating in GPS-denied and unstructured environments. However, traditional cooperative approaches require sharing explicit spatial coordinates across the network, presenting a severe security vulnerability in privacy-sensitive missions. While recent literature has explored privacy-preserving alternatives, these methods typically rely on accuracy-degrading noise injection or computationally prohibitive cryptographic protocols. To overcome these limitations, we propose a novel, natively privacy-preservin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29673","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/2606.29673/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":"2026-06-30T02:17:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sHCzgrzsniYmNiGXD0DVZLv6DbiaFBfCcqjOBiiAgkFyNbuBrZm4EpcXUz08diUMB55y1+3KewAcBQDxuR9XCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T08:10:33.565005Z"},"content_sha256":"c1e0e3e86ea396b0b8c151457dd0e0f153f547569709469c05106496140b84f9","schema_version":"1.0","event_id":"sha256:c1e0e3e86ea396b0b8c151457dd0e0f153f547569709469c05106496140b84f9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/bundle.json","state_url":"https://pith.science/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/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":"2026-08-07T08:10:33Z","links":{"resolver":"https://pith.science/pith/7FW27YLXYYSZEIBW4EGPV5MNZN","bundle":"https://pith.science/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/bundle.json","state":"https://pith.science/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7FW27YLXYYSZEIBW4EGPV5MNZN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:7FW27YLXYYSZEIBW4EGPV5MNZN","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":"54822b21e80386106ce9cc165e9559321c73aa1c84d3f3c51936c0c3427ee634","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T00:39:51Z","title_canon_sha256":"dc11293228a441fce8f3dd80ff8d0eee137a21149fe4a5a4cc634c258f473261"},"schema_version":"1.0","source":{"id":"2606.29673","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.29673","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"arxiv_version","alias_value":"2606.29673v1","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29673","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_12","alias_value":"7FW27YLXYYSZ","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_16","alias_value":"7FW27YLXYYSZEIBW","created_at":"2026-06-30T02:17:30Z"},{"alias_kind":"pith_short_8","alias_value":"7FW27YLX","created_at":"2026-06-30T02:17:30Z"}],"graph_snapshots":[{"event_id":"sha256:c1e0e3e86ea396b0b8c151457dd0e0f153f547569709469c05106496140b84f9","target":"graph","created_at":"2026-06-30T02:17:30Z","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/2606.29673/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cooperative localization using range-based measurements is critical for multi-robot systems operating in GPS-denied and unstructured environments. However, traditional cooperative approaches require sharing explicit spatial coordinates across the network, presenting a severe security vulnerability in privacy-sensitive missions. While recent literature has explored privacy-preserving alternatives, these methods typically rely on accuracy-degrading noise injection or computationally prohibitive cryptographic protocols. To overcome these limitations, we propose a novel, natively privacy-preservin","authors_text":"Nitesh Kumar, Reyshwanth Ganeshan, Sivakumar Rathinam, Sixu Li, Swaroop Darbha","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T00:39:51Z","title":"Privacy-Preserving Decentralized Cooperative Localization with Range-Only Measurements: A Convex Optimization Based Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29673","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":"sha256:224a272b0b602e641da5bb0ce7c579757b192b23db6111404ae6b84817690e55","target":"record","created_at":"2026-06-30T02:17:30Z","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":"54822b21e80386106ce9cc165e9559321c73aa1c84d3f3c51936c0c3427ee634","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T00:39:51Z","title_canon_sha256":"dc11293228a441fce8f3dd80ff8d0eee137a21149fe4a5a4cc634c258f473261"},"schema_version":"1.0","source":{"id":"2606.29673","kind":"arxiv","version":1}},"canonical_sha256":"f96dafe177c625922036e10cfaf58dcb4009f35f6efddff71f525ecfd4e7193e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f96dafe177c625922036e10cfaf58dcb4009f35f6efddff71f525ecfd4e7193e","first_computed_at":"2026-06-30T02:17:30.201153Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-30T02:17:30.201153Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3EYDs7/xw67ZCZ99as444k7m//5UOANVu8aXlAPkmhuvjsXjwGU5bD2J02SxPyAhOm4SH5l9gbQkk5r8mXX2BA==","signature_status":"signed_v1","signed_at":"2026-06-30T02:17:30.201903Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.29673","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:224a272b0b602e641da5bb0ce7c579757b192b23db6111404ae6b84817690e55","sha256:c1e0e3e86ea396b0b8c151457dd0e0f153f547569709469c05106496140b84f9"],"state_sha256":"94b5419c2c866685e5d7c7cafb12ce72f3e85c0b5732f66093397ae0691496c6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"odt+nPz1CmT8yLofe8p5t9XI/bQCuJfA0Zhz7BVuQPQm29tU9E2/ZV2wKEamkkV0vBpEQeTh+vJRNKqeOqvwCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T08:10:33.573821Z","bundle_sha256":"4b688acc06d9429aaa9a04d61e2922ac8dc6cd359eef4e62f28f98571bb84db5"}}