{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:BCVRKNKB5BQP36SWSLUVIS2QLE","short_pith_number":"pith:BCVRKNKB","canonical_record":{"source":{"id":"2005.07697","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-15T01:06:31Z","cross_cats_sorted":["cs.MA","cs.SY"],"title_canon_sha256":"69444fac7bbf967dccf478bf13feb6ee788c5e064bddeb338bf61be11c1a861d","abstract_canon_sha256":"45ba4b5b4f3f8ee4f4424a3956037608fad86690591a7674303240a388f9f45d"},"schema_version":"1.0"},"canonical_sha256":"08ab153541e860fdfa5692e9544b50592a0f0a6de6cd88a6ba34ab61eeb2cd4b","source":{"kind":"arxiv","id":"2005.07697","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.07697","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"arxiv_version","alias_value":"2005.07697v2","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.07697","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_12","alias_value":"BCVRKNKB5BQP","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_16","alias_value":"BCVRKNKB5BQP36SW","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_8","alias_value":"BCVRKNKB","created_at":"2026-07-05T01:03:44Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:BCVRKNKB5BQP36SWSLUVIS2QLE","target":"record","payload":{"canonical_record":{"source":{"id":"2005.07697","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-15T01:06:31Z","cross_cats_sorted":["cs.MA","cs.SY"],"title_canon_sha256":"69444fac7bbf967dccf478bf13feb6ee788c5e064bddeb338bf61be11c1a861d","abstract_canon_sha256":"45ba4b5b4f3f8ee4f4424a3956037608fad86690591a7674303240a388f9f45d"},"schema_version":"1.0"},"canonical_sha256":"08ab153541e860fdfa5692e9544b50592a0f0a6de6cd88a6ba34ab61eeb2cd4b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:03:44.851097Z","signature_b64":"pjNLChBfGENa+qb8wNoXu23rKilC5vluiE+jq4swRAYVmj/td8rUY/HctYyZ6lZ/nuIoO6u062zBoamWhy18BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"08ab153541e860fdfa5692e9544b50592a0f0a6de6cd88a6ba34ab61eeb2cd4b","last_reissued_at":"2026-07-05T01:03:44.850606Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:03:44.850606Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.07697","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:03:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nmBrDh+H62u8vGCtsjlW5tO9t1hGorPY8aSIkLuBP2jH0PKBwyjshCR4d8Jy/kckYT+54bwgQrtghsq5AT+tBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:25:28.131270Z"},"content_sha256":"b38ddcd72507c8b3e84922d18f6e99d677ae245af2c7662070e8b5f319dc72c1","schema_version":"1.0","event_id":"sha256:b38ddcd72507c8b3e84922d18f6e99d677ae245af2c7662070e8b5f319dc72c1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:BCVRKNKB5BQP36SWSLUVIS2QLE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.SY"],"primary_cat":"eess.SY","authors_text":"Hunmin Kim, Lui Sha, Naira Hovakimyan, Petros G. Voulgaris, Wenbin Wan, Yikun Cheng","submitted_at":"2020-05-15T01:06:31Z","abstract_excerpt":"Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a safety constrained bi-level control framework. The first level is the time-critical coordination level that achieves a consensus of coordination states and provides a virtual target which is a function of the coordination state. The second level is the safety-critical control level that is designed to follow the virtual target while adapting the attacked UA"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.07697","kind":"arxiv","version":2},"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/2005.07697/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":"2026-07-05T01:03:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nhWYvv5Tf1NdrmQpEb29CmX21cXe01zQGtA+EQQPXZXQq9iVXoHm/JKpmUVi4NBEpX+pscY4mOfT7RQbug6yCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:25:28.131658Z"},"content_sha256":"9f9bc02d5ecfadbbf48e84aa7fa0f9fa0c2400297dcca60a3ae881ed6fc9544f","schema_version":"1.0","event_id":"sha256:9f9bc02d5ecfadbbf48e84aa7fa0f9fa0c2400297dcca60a3ae881ed6fc9544f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/bundle.json","state_url":"https://pith.science/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/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":"2026-07-07T11:25:28Z","links":{"resolver":"https://pith.science/pith/BCVRKNKB5BQP36SWSLUVIS2QLE","bundle":"https://pith.science/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/bundle.json","state":"https://pith.science/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BCVRKNKB5BQP36SWSLUVIS2QLE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:BCVRKNKB5BQP36SWSLUVIS2QLE","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":"45ba4b5b4f3f8ee4f4424a3956037608fad86690591a7674303240a388f9f45d","cross_cats_sorted":["cs.MA","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-15T01:06:31Z","title_canon_sha256":"69444fac7bbf967dccf478bf13feb6ee788c5e064bddeb338bf61be11c1a861d"},"schema_version":"1.0","source":{"id":"2005.07697","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.07697","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"arxiv_version","alias_value":"2005.07697v2","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.07697","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_12","alias_value":"BCVRKNKB5BQP","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_16","alias_value":"BCVRKNKB5BQP36SW","created_at":"2026-07-05T01:03:44Z"},{"alias_kind":"pith_short_8","alias_value":"BCVRKNKB","created_at":"2026-07-05T01:03:44Z"}],"graph_snapshots":[{"event_id":"sha256:9f9bc02d5ecfadbbf48e84aa7fa0f9fa0c2400297dcca60a3ae881ed6fc9544f","target":"graph","created_at":"2026-07-05T01:03:44Z","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/2005.07697/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a safety constrained bi-level control framework. The first level is the time-critical coordination level that achieves a consensus of coordination states and provides a virtual target which is a function of the coordination state. The second level is the safety-critical control level that is designed to follow the virtual target while adapting the attacked UA","authors_text":"Hunmin Kim, Lui Sha, Naira Hovakimyan, Petros G. Voulgaris, Wenbin Wan, Yikun Cheng","cross_cats":["cs.MA","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-15T01:06:31Z","title":"Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.07697","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:b38ddcd72507c8b3e84922d18f6e99d677ae245af2c7662070e8b5f319dc72c1","target":"record","created_at":"2026-07-05T01:03:44Z","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":"45ba4b5b4f3f8ee4f4424a3956037608fad86690591a7674303240a388f9f45d","cross_cats_sorted":["cs.MA","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-15T01:06:31Z","title_canon_sha256":"69444fac7bbf967dccf478bf13feb6ee788c5e064bddeb338bf61be11c1a861d"},"schema_version":"1.0","source":{"id":"2005.07697","kind":"arxiv","version":2}},"canonical_sha256":"08ab153541e860fdfa5692e9544b50592a0f0a6de6cd88a6ba34ab61eeb2cd4b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"08ab153541e860fdfa5692e9544b50592a0f0a6de6cd88a6ba34ab61eeb2cd4b","first_computed_at":"2026-07-05T01:03:44.850606Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:03:44.850606Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pjNLChBfGENa+qb8wNoXu23rKilC5vluiE+jq4swRAYVmj/td8rUY/HctYyZ6lZ/nuIoO6u062zBoamWhy18BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:03:44.851097Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.07697","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b38ddcd72507c8b3e84922d18f6e99d677ae245af2c7662070e8b5f319dc72c1","sha256:9f9bc02d5ecfadbbf48e84aa7fa0f9fa0c2400297dcca60a3ae881ed6fc9544f"],"state_sha256":"f091db9c8d1c5f51a37b94e0b4d70e6054a2a8b0ce7f3385b3bda82c9b0542b1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ziOSguCC6WAV3AwSlSg8FkjjAq1sqU98nz0VdDLAeKg6xwZWmgIAZHJVjZbzWUYC3wHhmc7mKkd30kRgIkiOBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:25:28.133634Z","bundle_sha256":"4569d8b50916de0a0f7dd33b8a3448515b39943faa19c736bbe24577f715c0b3"}}