{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:BKLM2SBM46NPTPYXE264A6R6RZ","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":"5bbe96e1f2d66ca5137ac778518c3b7706a748411c897e39f34e25fdb44a4103","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-11T13:21:11Z","title_canon_sha256":"9674d9ff5fd1a9c703649ede994a3921774a1ffd8d51b54902d809894ba737f2"},"schema_version":"1.0","source":{"id":"2205.05477","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.05477","created_at":"2026-07-05T04:22:26Z"},{"alias_kind":"arxiv_version","alias_value":"2205.05477v1","created_at":"2026-07-05T04:22:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.05477","created_at":"2026-07-05T04:22:26Z"},{"alias_kind":"pith_short_12","alias_value":"BKLM2SBM46NP","created_at":"2026-07-05T04:22:26Z"},{"alias_kind":"pith_short_16","alias_value":"BKLM2SBM46NPTPYX","created_at":"2026-07-05T04:22:26Z"},{"alias_kind":"pith_short_8","alias_value":"BKLM2SBM","created_at":"2026-07-05T04:22:26Z"}],"graph_snapshots":[{"event_id":"sha256:dc100f92c5300b2bbe7cbaf47c9280fb8b0cdcc0771eee22a3ad6ade1463a0ec","target":"graph","created_at":"2026-07-05T04:22:26Z","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/2205.05477/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability to selectively deploy the aerial system from the ground robot. Exploiting the dexterous locomotion capabilities and long endurance of quadruped robots, the marsupial combination can explore within large-scale and confined environments involving rough terrain. However, as certain types of terrain or vertical geometries can render any ground system unable to c","authors_text":"Gabriel Waibel, Huan Nguyen, Kostas Alexis, Marco Hutter, Markus Montenegro, Mihir Dharmadhikari, Nikhil Khedekar, Paolo De Petris, Shehryar Khattak","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-11T13:21:11Z","title":"Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.05477","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:b5788edf3bff95ffbd7d56128f2582b239ae80864e2738197c644bc4208101ec","target":"record","created_at":"2026-07-05T04:22:26Z","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":"5bbe96e1f2d66ca5137ac778518c3b7706a748411c897e39f34e25fdb44a4103","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-11T13:21:11Z","title_canon_sha256":"9674d9ff5fd1a9c703649ede994a3921774a1ffd8d51b54902d809894ba737f2"},"schema_version":"1.0","source":{"id":"2205.05477","kind":"arxiv","version":1}},"canonical_sha256":"0a96cd482ce79af9bf1726bdc07a3e8e70e67b9dbf7dabaccad385d9c92594a7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0a96cd482ce79af9bf1726bdc07a3e8e70e67b9dbf7dabaccad385d9c92594a7","first_computed_at":"2026-07-05T04:22:26.167475Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:22:26.167475Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"g7M7pNkmtPgaiWoXVrB6sw4iz/Sox7Ri0oUtxMKhxseHkv2Qug7UyXr+nmjtQLZ04aJg4437TMMD7TJN+H40Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:22:26.167916Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.05477","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b5788edf3bff95ffbd7d56128f2582b239ae80864e2738197c644bc4208101ec","sha256:dc100f92c5300b2bbe7cbaf47c9280fb8b0cdcc0771eee22a3ad6ade1463a0ec"],"state_sha256":"ff2b557852d9ab095066c9068f9b14e5df8a1a718c0d81369a65f255b25b5fd2"}