{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:D2ZZ4WHE5UXJWUJZNSOJLLLE5U","short_pith_number":"pith:D2ZZ4WHE","canonical_record":{"source":{"id":"2506.03663","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T07:55:13Z","cross_cats_sorted":[],"title_canon_sha256":"87d7535e8df5b27b4db0ab6d40cdc41138b3cfbfc812afcedace207053e7f5e1","abstract_canon_sha256":"8aed5fb12ccc5c494e72aea2f243cb73322d7f8bf96838ddd0434a79084c22b4"},"schema_version":"1.0"},"canonical_sha256":"1eb39e58e4ed2e9b51396c9c95ad64ed2592873f3f490e20bcc342453490860e","source":{"kind":"arxiv","id":"2506.03663","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.03663","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"arxiv_version","alias_value":"2506.03663v1","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.03663","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_12","alias_value":"D2ZZ4WHE5UXJ","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_16","alias_value":"D2ZZ4WHE5UXJWUJZ","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_8","alias_value":"D2ZZ4WHE","created_at":"2026-07-05T11:15:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:D2ZZ4WHE5UXJWUJZNSOJLLLE5U","target":"record","payload":{"canonical_record":{"source":{"id":"2506.03663","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T07:55:13Z","cross_cats_sorted":[],"title_canon_sha256":"87d7535e8df5b27b4db0ab6d40cdc41138b3cfbfc812afcedace207053e7f5e1","abstract_canon_sha256":"8aed5fb12ccc5c494e72aea2f243cb73322d7f8bf96838ddd0434a79084c22b4"},"schema_version":"1.0"},"canonical_sha256":"1eb39e58e4ed2e9b51396c9c95ad64ed2592873f3f490e20bcc342453490860e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:15:49.539187Z","signature_b64":"v8j5Y/UqoyESZW1K9hA5xHSX+St/vf+OmMqIiN1WAOxUVxOVMMW2uDInMes7F0E9vg+ILYaSWyBEMp9EX4PrDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1eb39e58e4ed2e9b51396c9c95ad64ed2592873f3f490e20bcc342453490860e","last_reissued_at":"2026-07-05T11:15:49.538713Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:15:49.538713Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.03663","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":"2026-07-05T11:15:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ThYeWjhBQs8Fbf5AIFL+NyWFClU7+T6erAX3LWWK6bXFuXVWUved4rmzv5jL0WlsGcfUD+vLDwb6+yKtU2bhAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:44:52.699288Z"},"content_sha256":"4ed1aa64b466a08fedcbb351d29d59e5f388c4eed94346857b56242aac61a84d","schema_version":"1.0","event_id":"sha256:4ed1aa64b466a08fedcbb351d29d59e5f388c4eed94346857b56242aac61a84d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:D2ZZ4WHE5UXJWUJZNSOJLLLE5U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Improved Grey Wolf Optimizer Inspired by Advanced Cooperative Predation for UAV Shortest Path Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ji Li, Jingchen Wang, Qian Dong, Shuangyao Huang, Wenzhang Zhang, Xi Chen, Ze Zhang, Zuhao Teng","submitted_at":"2025-06-04T07:55:13Z","abstract_excerpt":"With the widespread application of Unmanned Aerial Vehicles (UAVs) in domains like military reconnaissance, emergency rescue, and logistics delivery, efficiently planning the shortest flight path has become a critical challenge. Traditional heuristic-based methods often suffer from the inability to escape from local optima, which limits their effectiveness in finding the shortest path. To address these issues, a novel Improved Grey Wolf Optimizer (IGWO) is presented in this study. The proposed IGWO incorporates an Advanced Cooperative Predation (ACP) and a Lens Opposition-based Learning Strate"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.03663","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/2506.03663/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":"2026-07-05T11:15:49Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TBfJKpga4fCLeIpPBUP9OvJytLeyjT76saB8HnFFwrYMljsGR1VxFwZgln5kT2amd8u8QEyNxo0kAPqb0An6CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T18:44:52.700190Z"},"content_sha256":"e06b57e0c5b1ff60f81be7af53f0da2a39cb5cf1828cb532f62c5aed1e1f1880","schema_version":"1.0","event_id":"sha256:e06b57e0c5b1ff60f81be7af53f0da2a39cb5cf1828cb532f62c5aed1e1f1880"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/bundle.json","state_url":"https://pith.science/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/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":"2026-08-04T18:44:52Z","links":{"resolver":"https://pith.science/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U","bundle":"https://pith.science/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/bundle.json","state":"https://pith.science/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D2ZZ4WHE5UXJWUJZNSOJLLLE5U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:D2ZZ4WHE5UXJWUJZNSOJLLLE5U","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":"8aed5fb12ccc5c494e72aea2f243cb73322d7f8bf96838ddd0434a79084c22b4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T07:55:13Z","title_canon_sha256":"87d7535e8df5b27b4db0ab6d40cdc41138b3cfbfc812afcedace207053e7f5e1"},"schema_version":"1.0","source":{"id":"2506.03663","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.03663","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"arxiv_version","alias_value":"2506.03663v1","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.03663","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_12","alias_value":"D2ZZ4WHE5UXJ","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_16","alias_value":"D2ZZ4WHE5UXJWUJZ","created_at":"2026-07-05T11:15:49Z"},{"alias_kind":"pith_short_8","alias_value":"D2ZZ4WHE","created_at":"2026-07-05T11:15:49Z"}],"graph_snapshots":[{"event_id":"sha256:e06b57e0c5b1ff60f81be7af53f0da2a39cb5cf1828cb532f62c5aed1e1f1880","target":"graph","created_at":"2026-07-05T11:15:49Z","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/2506.03663/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the widespread application of Unmanned Aerial Vehicles (UAVs) in domains like military reconnaissance, emergency rescue, and logistics delivery, efficiently planning the shortest flight path has become a critical challenge. Traditional heuristic-based methods often suffer from the inability to escape from local optima, which limits their effectiveness in finding the shortest path. To address these issues, a novel Improved Grey Wolf Optimizer (IGWO) is presented in this study. The proposed IGWO incorporates an Advanced Cooperative Predation (ACP) and a Lens Opposition-based Learning Strate","authors_text":"Ji Li, Jingchen Wang, Qian Dong, Shuangyao Huang, Wenzhang Zhang, Xi Chen, Ze Zhang, Zuhao Teng","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T07:55:13Z","title":"An Improved Grey Wolf Optimizer Inspired by Advanced Cooperative Predation for UAV Shortest Path Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.03663","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":"sha256:4ed1aa64b466a08fedcbb351d29d59e5f388c4eed94346857b56242aac61a84d","target":"record","created_at":"2026-07-05T11:15:49Z","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":"8aed5fb12ccc5c494e72aea2f243cb73322d7f8bf96838ddd0434a79084c22b4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T07:55:13Z","title_canon_sha256":"87d7535e8df5b27b4db0ab6d40cdc41138b3cfbfc812afcedace207053e7f5e1"},"schema_version":"1.0","source":{"id":"2506.03663","kind":"arxiv","version":1}},"canonical_sha256":"1eb39e58e4ed2e9b51396c9c95ad64ed2592873f3f490e20bcc342453490860e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1eb39e58e4ed2e9b51396c9c95ad64ed2592873f3f490e20bcc342453490860e","first_computed_at":"2026-07-05T11:15:49.538713Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:15:49.538713Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v8j5Y/UqoyESZW1K9hA5xHSX+St/vf+OmMqIiN1WAOxUVxOVMMW2uDInMes7F0E9vg+ILYaSWyBEMp9EX4PrDA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:15:49.539187Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.03663","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4ed1aa64b466a08fedcbb351d29d59e5f388c4eed94346857b56242aac61a84d","sha256:e06b57e0c5b1ff60f81be7af53f0da2a39cb5cf1828cb532f62c5aed1e1f1880"],"state_sha256":"8985845a0be1c0594e582d3a6899513cd7a5be9d0f27aae54a0a432daa7206cf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nansht+AW92eG5yt7hRjOMlHw/sNh5AL0fjYo8qH+kIkdkEViagh1hEKBgrsVNpVY5QU7mWXpFprVgS6VcMMCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T18:44:52.714110Z","bundle_sha256":"3726cefc571ed8b97fad7bce95e9b6ae65e35169cc8b3e7c2ca7eab8207ea483"}}