{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:7KPGQCO437UT5WBSBZ2LZA5FTM","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":"d7aa37cfa6760d078a6f12bf341b1d2a75a5353fedd312ab933e6fd534b17451","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-21T14:09:15Z","title_canon_sha256":"706f3c4ae0744d701875e0be514df95ff9b8ff51d4b959e60beffe5d3c9a2d4f"},"schema_version":"1.0","source":{"id":"2210.11978","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.11978","created_at":"2026-07-05T07:28:26Z"},{"alias_kind":"arxiv_version","alias_value":"2210.11978v2","created_at":"2026-07-05T07:28:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.11978","created_at":"2026-07-05T07:28:26Z"},{"alias_kind":"pith_short_12","alias_value":"7KPGQCO437UT","created_at":"2026-07-05T07:28:26Z"},{"alias_kind":"pith_short_16","alias_value":"7KPGQCO437UT5WBS","created_at":"2026-07-05T07:28:26Z"},{"alias_kind":"pith_short_8","alias_value":"7KPGQCO4","created_at":"2026-07-05T07:28:26Z"}],"graph_snapshots":[{"event_id":"sha256:239c0ce30d481c9fd744539d0b13107ed457879e44ef0d114573a56c16419e3e","target":"graph","created_at":"2026-07-05T07:28:26Z","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/2210.11978/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios, such as the prior information about the environment being absent and poor communication among the team members. This work presents DCL-SLAM, a fully distributed collaborative LiDAR SLAM framework intended for the robotic swarm to simultaneously co-localize in an unknown environment with minimal information exchange. Based on ad-hoc wireless peer-to-peer commu","authors_text":"Hongbo Chen, Jin Wu, Ming Liu, Shipeng Zhong, Yuhua Qi, Zhiqiang Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-21T14:09:15Z","title":"DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.11978","kind":"arxiv","version":2},"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":"sha256:77475fb0f80fc8917bd5c3d2c271a2d5f87f3432eba2fa594c07a39f9c99f836","target":"record","created_at":"2026-07-05T07:28:26Z","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":"d7aa37cfa6760d078a6f12bf341b1d2a75a5353fedd312ab933e6fd534b17451","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-21T14:09:15Z","title_canon_sha256":"706f3c4ae0744d701875e0be514df95ff9b8ff51d4b959e60beffe5d3c9a2d4f"},"schema_version":"1.0","source":{"id":"2210.11978","kind":"arxiv","version":2}},"canonical_sha256":"fa9e6809dcdfe93ed8320e74bc83a59b17bf473e65a83fe5b890b1778890202b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa9e6809dcdfe93ed8320e74bc83a59b17bf473e65a83fe5b890b1778890202b","first_computed_at":"2026-07-05T07:28:26.397120Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:28:26.397120Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"g45+5xthYyUWr0Ds1YFhAfFWg1gQnT+YCRw7Z7Sx0eCOYpLWdIeoNzkqF8IoiWShGpwc62UcAsRpPdQdPOUiBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:28:26.397542Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.11978","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:77475fb0f80fc8917bd5c3d2c271a2d5f87f3432eba2fa594c07a39f9c99f836","sha256:239c0ce30d481c9fd744539d0b13107ed457879e44ef0d114573a56c16419e3e"],"state_sha256":"c0f524643026ae202570f40b5eae823801e102972e90bfd583dbe05a2576eb2c"}