{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:BQDVVBUYZXKNHHZ34FDEPE563Y","short_pith_number":"pith:BQDVVBUY","canonical_record":{"source":{"id":"1908.02789","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-07T18:26:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"ec42458a6eba9c8ee0a79f8b3336a08a532685fcb6978759854d0ac929fda3d0","abstract_canon_sha256":"2b33f6d900a5c43e84de9bf39bcdbdc225e362244ed7931b8575810b1e97c18d"},"schema_version":"1.0"},"canonical_sha256":"0c075a8698cdd4d39f3be1464793bede0cf0a43131296049f06acfff1767fe57","source":{"kind":"arxiv","id":"1908.02789","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.02789","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"arxiv_version","alias_value":"1908.02789v1","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.02789","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_12","alias_value":"BQDVVBUYZXKN","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_16","alias_value":"BQDVVBUYZXKNHHZ3","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_8","alias_value":"BQDVVBUY","created_at":"2026-07-04T23:52:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:BQDVVBUYZXKNHHZ34FDEPE563Y","target":"record","payload":{"canonical_record":{"source":{"id":"1908.02789","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-07T18:26:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"ec42458a6eba9c8ee0a79f8b3336a08a532685fcb6978759854d0ac929fda3d0","abstract_canon_sha256":"2b33f6d900a5c43e84de9bf39bcdbdc225e362244ed7931b8575810b1e97c18d"},"schema_version":"1.0"},"canonical_sha256":"0c075a8698cdd4d39f3be1464793bede0cf0a43131296049f06acfff1767fe57","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-04T23:52:23.262473Z","signature_b64":"Z7JcsIXME8ozcdDORbsfeE22lWo04RITfUjQT70w1hYZnGogj8bgbdIC8a6OCIjitlcq5uhK0gabFFCvyGaWAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0c075a8698cdd4d39f3be1464793bede0cf0a43131296049f06acfff1767fe57","last_reissued_at":"2026-07-04T23:52:23.262035Z","signature_status":"signed_v1","first_computed_at":"2026-07-04T23:52:23.262035Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.02789","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-04T23:52:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jbjkTqKS8KiBIXagtMBaegr8OwwazR/zzCgqqUxB7TQXdrirFJwaq+GIw4zgJmGf2tp2/y3fQllnzF0rO9zUCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T12:07:15.137143Z"},"content_sha256":"384ccf45106ca3d1196ef2c3890eda5577bf4c3a3b8d4f5d46c585f1123b85ab","schema_version":"1.0","event_id":"sha256:384ccf45106ca3d1196ef2c3890eda5577bf4c3a3b8d4f5d46c585f1123b85ab"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:BQDVVBUYZXKNHHZ34FDEPE563Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control of Cooperative Unmanned Aerial Vehicles: Review of Applications, Challenges, and Algorithms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Alireza Abbaspour, Arman Sargolzaei, Carl D. Crane","submitted_at":"2019-08-07T18:26:31Z","abstract_excerpt":"A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit efficiency, flexibility, accuracy, robustness, and reliability. However, the provision of external communications potentially exposes them to an additional layer of faults, failures, uncertainties, and cyber-attacks and can contribute to the propagation of error from one component to other components in a network. Also, other challenges such as complex nonlinear dyna"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.02789","kind":"arxiv","version":1},"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/1908.02789/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":"2026-07-04T23:52:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"maJ9dtdVTzLg+0qFhoLt91wOzgu2FObP5TeQhOX6C33WuqT2r2rRhbgWrOdKcJO2lSRmqMvWCqa3iF5WkNSpBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T12:07:15.137657Z"},"content_sha256":"887e7cbbc865d42427fe4034acae34d062ad403e4d0d9061cd8b8e195f07fe1f","schema_version":"1.0","event_id":"sha256:887e7cbbc865d42427fe4034acae34d062ad403e4d0d9061cd8b8e195f07fe1f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/bundle.json","state_url":"https://pith.science/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/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":"2026-08-16T12:07:15Z","links":{"resolver":"https://pith.science/pith/BQDVVBUYZXKNHHZ34FDEPE563Y","bundle":"https://pith.science/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/bundle.json","state":"https://pith.science/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BQDVVBUYZXKNHHZ34FDEPE563Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:BQDVVBUYZXKNHHZ34FDEPE563Y","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":"2b33f6d900a5c43e84de9bf39bcdbdc225e362244ed7931b8575810b1e97c18d","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-07T18:26:31Z","title_canon_sha256":"ec42458a6eba9c8ee0a79f8b3336a08a532685fcb6978759854d0ac929fda3d0"},"schema_version":"1.0","source":{"id":"1908.02789","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.02789","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"arxiv_version","alias_value":"1908.02789v1","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.02789","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_12","alias_value":"BQDVVBUYZXKN","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_16","alias_value":"BQDVVBUYZXKNHHZ3","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_8","alias_value":"BQDVVBUY","created_at":"2026-07-04T23:52:23Z"}],"graph_snapshots":[{"event_id":"sha256:887e7cbbc865d42427fe4034acae34d062ad403e4d0d9061cd8b8e195f07fe1f","target":"graph","created_at":"2026-07-04T23:52:23Z","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/1908.02789/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A system of cooperative unmanned aerial vehicles (UAVs) is a group of agents interacting with each other and the surrounding environment to achieve a specific task. In contrast with a single UAV, UAV swarms are expected to benefit efficiency, flexibility, accuracy, robustness, and reliability. However, the provision of external communications potentially exposes them to an additional layer of faults, failures, uncertainties, and cyber-attacks and can contribute to the propagation of error from one component to other components in a network. Also, other challenges such as complex nonlinear dyna","authors_text":"Alireza Abbaspour, Arman Sargolzaei, Carl D. Crane","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-07T18:26:31Z","title":"Control of Cooperative Unmanned Aerial Vehicles: Review of Applications, Challenges, and Algorithms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.02789","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":"sha256:384ccf45106ca3d1196ef2c3890eda5577bf4c3a3b8d4f5d46c585f1123b85ab","target":"record","created_at":"2026-07-04T23:52:23Z","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":"2b33f6d900a5c43e84de9bf39bcdbdc225e362244ed7931b8575810b1e97c18d","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-07T18:26:31Z","title_canon_sha256":"ec42458a6eba9c8ee0a79f8b3336a08a532685fcb6978759854d0ac929fda3d0"},"schema_version":"1.0","source":{"id":"1908.02789","kind":"arxiv","version":1}},"canonical_sha256":"0c075a8698cdd4d39f3be1464793bede0cf0a43131296049f06acfff1767fe57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0c075a8698cdd4d39f3be1464793bede0cf0a43131296049f06acfff1767fe57","first_computed_at":"2026-07-04T23:52:23.262035Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:52:23.262035Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Z7JcsIXME8ozcdDORbsfeE22lWo04RITfUjQT70w1hYZnGogj8bgbdIC8a6OCIjitlcq5uhK0gabFFCvyGaWAg==","signature_status":"signed_v1","signed_at":"2026-07-04T23:52:23.262473Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.02789","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:384ccf45106ca3d1196ef2c3890eda5577bf4c3a3b8d4f5d46c585f1123b85ab","sha256:887e7cbbc865d42427fe4034acae34d062ad403e4d0d9061cd8b8e195f07fe1f"],"state_sha256":"46a0d4e67da70eda0ce39bb63778c5d17cd34057594485e9255c14929a687c97"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cK3Bd2xUgsALxgfyPaecGqw17ox8UOjs/NjcdAWDYKIfEQ6mnOug6xiu/6R8TE2NejJ2bIfsm6FSYEKIr9jzCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T12:07:15.145491Z","bundle_sha256":"66b79a9faf45762c6f98b33fc76210d5aee776bb3203b4d370edbad67acc661e"}}