{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:A4VLG2BP5KTKLOQUD5ZVZOUI6L","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":"e0c3260653aab1e6c89309e33d70c78e8356d66845f1afd06cebc00a19bd91fe","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-16T08:08:42Z","title_canon_sha256":"929af8844a3e5a793fadd31363c3503a66762dc1c41fcdc4e1f0ada8429afbc5"},"schema_version":"1.0","source":{"id":"2501.09357","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.09357","created_at":"2026-07-05T10:01:45Z"},{"alias_kind":"arxiv_version","alias_value":"2501.09357v1","created_at":"2026-07-05T10:01:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.09357","created_at":"2026-07-05T10:01:45Z"},{"alias_kind":"pith_short_12","alias_value":"A4VLG2BP5KTK","created_at":"2026-07-05T10:01:45Z"},{"alias_kind":"pith_short_16","alias_value":"A4VLG2BP5KTKLOQU","created_at":"2026-07-05T10:01:45Z"},{"alias_kind":"pith_short_8","alias_value":"A4VLG2BP","created_at":"2026-07-05T10:01:45Z"}],"graph_snapshots":[{"event_id":"sha256:1614b0db70c26f2504f51c496803e13b5ad09305a9cb9a83e361cb1bb1c3a462","target":"graph","created_at":"2026-07-05T10:01:45Z","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/2501.09357/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work addresses the path planning problem for a group of unmanned aerial vehicles (UAVs) to maintain a desired formation during operation. Our approach formulates the problem as an optimization task by defining a set of fitness functions that not only ensure the formation but also include constraints for optimal and safe UAV operation. To optimize the fitness function and obtain a suboptimal path, we employ the teaching-learning-based optimization algorithm and then further enhance it with mechanisms such as mutation, elite strategy, and multi-subject combination. A number of simulations a","authors_text":"Manh Duong Phung, Van Truong Hoang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-16T08:08:42Z","title":"Path Planning for a UAV Swarm Using Formation Teaching-Learning-Based Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.09357","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":"sha256:452ee84998e44f80b718515ebdfeae486fa63ce4c42817ea091ea223e0e0e404","target":"record","created_at":"2026-07-05T10:01:45Z","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":"e0c3260653aab1e6c89309e33d70c78e8356d66845f1afd06cebc00a19bd91fe","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-01-16T08:08:42Z","title_canon_sha256":"929af8844a3e5a793fadd31363c3503a66762dc1c41fcdc4e1f0ada8429afbc5"},"schema_version":"1.0","source":{"id":"2501.09357","kind":"arxiv","version":1}},"canonical_sha256":"072ab3682feaa6a5ba141f735cba88f2c32184d207e4dd7508255721fff76133","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"072ab3682feaa6a5ba141f735cba88f2c32184d207e4dd7508255721fff76133","first_computed_at":"2026-07-05T10:01:45.743323Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:01:45.743323Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"euQQT6CPJ67fk7ACfiYFzsY3850x2lbcsM1W0TEGVn5Ar1Al10dBE/rC7MbIsmmEB/3bGbg/dExBF2WNxEovAw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:01:45.743703Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.09357","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:452ee84998e44f80b718515ebdfeae486fa63ce4c42817ea091ea223e0e0e404","sha256:1614b0db70c26f2504f51c496803e13b5ad09305a9cb9a83e361cb1bb1c3a462"],"state_sha256":"afa64e76d3f1ea05ca054d2ac72786764d5f0955abc5ccb4b67658e938b67931"}