{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:BGC2BPS5DB24G3YWH5PIBN2SMR","short_pith_number":"pith:BGC2BPS5","canonical_record":{"source":{"id":"1604.04384","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-15T07:35:32Z","cross_cats_sorted":[],"title_canon_sha256":"800cde6a70f10c098c2af2cb15f6a819c6cc2eb9c0a63e3234e1a9e2c345b2b0","abstract_canon_sha256":"2830ff7eda52b77ee8c8177d0abd335deeaa634ad07c231807b454f793cd8c33"},"schema_version":"1.0"},"canonical_sha256":"0985a0be5d1875c36f163f5e80b7526460dcc14e8a56f4b2bfa6b82bebc2f869","source":{"kind":"arxiv","id":"1604.04384","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.04384","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"arxiv_version","alias_value":"1604.04384v2","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.04384","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"pith_short_12","alias_value":"BGC2BPS5DB24","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BGC2BPS5DB24G3YW","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BGC2BPS5","created_at":"2026-05-18T12:30:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:BGC2BPS5DB24G3YWH5PIBN2SMR","target":"record","payload":{"canonical_record":{"source":{"id":"1604.04384","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-15T07:35:32Z","cross_cats_sorted":[],"title_canon_sha256":"800cde6a70f10c098c2af2cb15f6a819c6cc2eb9c0a63e3234e1a9e2c345b2b0","abstract_canon_sha256":"2830ff7eda52b77ee8c8177d0abd335deeaa634ad07c231807b454f793cd8c33"},"schema_version":"1.0"},"canonical_sha256":"0985a0be5d1875c36f163f5e80b7526460dcc14e8a56f4b2bfa6b82bebc2f869","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:34:44.872717Z","signature_b64":"hsrjrQjRQvHyO9Fa7aqwY8ptGNjaN7EbOO2qYrEVseS5DOCYMFR+O9oJs0/icXGIRH1/TYyCCMm/w+jl9Wx2Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0985a0be5d1875c36f163f5e80b7526460dcc14e8a56f4b2bfa6b82bebc2f869","last_reissued_at":"2026-05-18T00:34:44.872058Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:34:44.872058Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1604.04384","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":"2026-05-18T00:34:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kWEzZ/KxsFxdslWA7/XL6+QnePkofkBXXt/RtNXteuXI2zp2MWzZ+JJ8OoBIsbI1hOmnZhge+YTrZgLGKTb/DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T13:50:58.688469Z"},"content_sha256":"f29dbae90c9520b5923f07e5b006130bbc4c17994abbfd06a915556ac093de78","schema_version":"1.0","event_id":"sha256:f29dbae90c9520b5923f07e5b006130bbc4c17994abbfd06a915556ac093de78"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:BGC2BPS5DB24G3YWH5PIBN2SMR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"The STRANDS Project: Long-Term Autonomy in Everyday Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aitor Aldoma, Alexander Hermans, Anthony G. Cohn, Bastian Leibe, Bruno Lacerda, Chris Burbridge, Christian Dondrup, David C. Hogg, Denise Hebesberger, Eris Chinellato, Ferdian Jovan, Jaime Pulido Fentanes, Jay Young, Jeremy Wyatt, Jo\\~ao M. Santos, John Folkesson, Lars Kunze, Lenka Mudrov\\'a, Lucas Beyer, Marc Hanheide, Markus Vincze, Michael Zillich, Muhannad Al-Omari, Nick Hawes, Nils Bore, Patric Jensfelt, Paul Duckworth, Rares Ambrus, Thomas F\\\"aulhammer, Tobias K\\\"ortner, Tomas Krajn\\'ik, Tom Duckett, Yiannis Gatsoulis","submitted_at":"2016-04-15T07:35:32Z","abstract_excerpt":"Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous service robots that can operate in real environments for extended periods. In the STRANDS project we are tackling this demand head-on by integrating state-of-the-art artificial intelligence and robotics research into mobile service robots, and deploying these systems for long-term installations in security and care environments. Over four deployments, our robots have been operational for a combined duration of 104 days a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.04384","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":""},"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":"2026-05-18T00:34:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XPzSbT1DF7e1V3d7CSSQoN5Lx63v5lkG/M5fbUCiC27cG56knL1k4vVeF0kHCGe5TWN1RkuOZkC3jNKdQiMtAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T13:50:58.689161Z"},"content_sha256":"2d94ad0a9a24944832dfd64aefbe5a5193209bfbc581bb0b3fb084a562058374","schema_version":"1.0","event_id":"sha256:2d94ad0a9a24944832dfd64aefbe5a5193209bfbc581bb0b3fb084a562058374"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/bundle.json","state_url":"https://pith.science/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/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":"2026-05-27T13:50:58Z","links":{"resolver":"https://pith.science/pith/BGC2BPS5DB24G3YWH5PIBN2SMR","bundle":"https://pith.science/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/bundle.json","state":"https://pith.science/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BGC2BPS5DB24G3YWH5PIBN2SMR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:BGC2BPS5DB24G3YWH5PIBN2SMR","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":"2830ff7eda52b77ee8c8177d0abd335deeaa634ad07c231807b454f793cd8c33","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-15T07:35:32Z","title_canon_sha256":"800cde6a70f10c098c2af2cb15f6a819c6cc2eb9c0a63e3234e1a9e2c345b2b0"},"schema_version":"1.0","source":{"id":"1604.04384","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.04384","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"arxiv_version","alias_value":"1604.04384v2","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.04384","created_at":"2026-05-18T00:34:44Z"},{"alias_kind":"pith_short_12","alias_value":"BGC2BPS5DB24","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BGC2BPS5DB24G3YW","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BGC2BPS5","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:2d94ad0a9a24944832dfd64aefbe5a5193209bfbc581bb0b3fb084a562058374","target":"graph","created_at":"2026-05-18T00:34:44Z","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"},"paper":{"abstract_excerpt":"Thanks to the efforts of the robotics and autonomous systems community, robots are becoming ever more capable. There is also an increasing demand from end-users for autonomous service robots that can operate in real environments for extended periods. In the STRANDS project we are tackling this demand head-on by integrating state-of-the-art artificial intelligence and robotics research into mobile service robots, and deploying these systems for long-term installations in security and care environments. Over four deployments, our robots have been operational for a combined duration of 104 days a","authors_text":"Aitor Aldoma, Alexander Hermans, Anthony G. Cohn, Bastian Leibe, Bruno Lacerda, Chris Burbridge, Christian Dondrup, David C. Hogg, Denise Hebesberger, Eris Chinellato, Ferdian Jovan, Jaime Pulido Fentanes, Jay Young, Jeremy Wyatt, Jo\\~ao M. Santos, John Folkesson, Lars Kunze, Lenka Mudrov\\'a, Lucas Beyer, Marc Hanheide, Markus Vincze, Michael Zillich, Muhannad Al-Omari, Nick Hawes, Nils Bore, Patric Jensfelt, Paul Duckworth, Rares Ambrus, Thomas F\\\"aulhammer, Tobias K\\\"ortner, Tomas Krajn\\'ik, Tom Duckett, Yiannis Gatsoulis","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-15T07:35:32Z","title":"The STRANDS Project: Long-Term Autonomy in Everyday Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.04384","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:f29dbae90c9520b5923f07e5b006130bbc4c17994abbfd06a915556ac093de78","target":"record","created_at":"2026-05-18T00:34:44Z","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":"2830ff7eda52b77ee8c8177d0abd335deeaa634ad07c231807b454f793cd8c33","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-15T07:35:32Z","title_canon_sha256":"800cde6a70f10c098c2af2cb15f6a819c6cc2eb9c0a63e3234e1a9e2c345b2b0"},"schema_version":"1.0","source":{"id":"1604.04384","kind":"arxiv","version":2}},"canonical_sha256":"0985a0be5d1875c36f163f5e80b7526460dcc14e8a56f4b2bfa6b82bebc2f869","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0985a0be5d1875c36f163f5e80b7526460dcc14e8a56f4b2bfa6b82bebc2f869","first_computed_at":"2026-05-18T00:34:44.872058Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:34:44.872058Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hsrjrQjRQvHyO9Fa7aqwY8ptGNjaN7EbOO2qYrEVseS5DOCYMFR+O9oJs0/icXGIRH1/TYyCCMm/w+jl9Wx2Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:34:44.872717Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.04384","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f29dbae90c9520b5923f07e5b006130bbc4c17994abbfd06a915556ac093de78","sha256:2d94ad0a9a24944832dfd64aefbe5a5193209bfbc581bb0b3fb084a562058374"],"state_sha256":"35996d67ec52e4e1b833921be87a81d09d1af1af10b4ac9e41918acdeaa1dfce"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8yzKjOgrhVX9IWhA2khwpTeUDnB6YMJ1GK/uzfRLtzr9m6GslhdFVWDJWm/mygpURA9i+BJWXpNykz8v9DMpAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T13:50:58.692586Z","bundle_sha256":"e933fd92337cac8d471676ccbc06188aa3381445d8f15dfd0bfcdabec2294b2f"}}