{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:DG4XIA27V23QTNET37W7QSU4QF","short_pith_number":"pith:DG4XIA27","canonical_record":{"source":{"id":"2309.11408","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T15:32:36Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"525ecdeb2c5050299c9f7d8df17962a6bb8dc81186ec3a5ef72ca530491256a6","abstract_canon_sha256":"22d4ba53b1cd758959264262ef5d9954cb5de8e6d30aca70a1bd65807188bab0"},"schema_version":"1.0"},"canonical_sha256":"19b974035faeb709b493dfedf84a9c816c966e6188e80dbdfb1381f24863295d","source":{"kind":"arxiv","id":"2309.11408","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.11408","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"arxiv_version","alias_value":"2309.11408v2","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.11408","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_12","alias_value":"DG4XIA27V23Q","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_16","alias_value":"DG4XIA27V23QTNET","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_8","alias_value":"DG4XIA27","created_at":"2026-07-05T08:02:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:DG4XIA27V23QTNET37W7QSU4QF","target":"record","payload":{"canonical_record":{"source":{"id":"2309.11408","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T15:32:36Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"525ecdeb2c5050299c9f7d8df17962a6bb8dc81186ec3a5ef72ca530491256a6","abstract_canon_sha256":"22d4ba53b1cd758959264262ef5d9954cb5de8e6d30aca70a1bd65807188bab0"},"schema_version":"1.0"},"canonical_sha256":"19b974035faeb709b493dfedf84a9c816c966e6188e80dbdfb1381f24863295d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:02:01.139255Z","signature_b64":"d/zXx1lFxtVgW9H0xPntqHYJYr1V4YYeVMwPU0R+x4nauvIYlvbM7Cdo760wZnsULAmy57b8LREfQJH1cDZaDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"19b974035faeb709b493dfedf84a9c816c966e6188e80dbdfb1381f24863295d","last_reissued_at":"2026-07-05T08:02:01.138759Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:02:01.138759Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.11408","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":"2026-07-05T08:02:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Jto/xYgb2f3wgl5dDqr4Y/ncQNSFLkJt1U8k+a6ndQHysjBYIXVe5Pb39/YA1NPccUNJANW3lHma7PZBJ4IkDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:58:43.083876Z"},"content_sha256":"7d112450587c5f047f25f20ac2b111bfe19c03275f8d267654c5607f1b88431c","schema_version":"1.0","event_id":"sha256:7d112450587c5f047f25f20ac2b111bfe19c03275f8d267654c5607f1b88431c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:DG4XIA27V23QTNET37W7QSU4QF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Indirect Swarm Control: Characterization and Analysis of Emergent Swarm Behaviors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Cameron Nowzari, Connor Mattson, Daniel S. Brown, Ricardo Vega","submitted_at":"2023-09-20T15:32:36Z","abstract_excerpt":"Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level of the system (i.e., the whole swarm) and its properties. However, the manner in which these collective emergent behaviors self-organize is less understood. The focus of this paper is in presenting a new framework for characterizing the conditions that lead to different macrostates and how to predict/analyze their macroscopic properties, allowing us to indirectly engineer the same behaviors from the bottom up by tuni"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.11408","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/2309.11408/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":"2026-07-05T08:02:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eOT+XMLHKyia18JB5fYa18P98uH7xNJETCGT5ESyAfdiaQnfwTpok8lHYjfe/2V09c/vZMq5hy7SYeKapTJ3Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T18:58:43.084565Z"},"content_sha256":"56b5492e12780558a5539cab14abd3ceb3198637cb2c43059d3ae8eaf078a9a2","schema_version":"1.0","event_id":"sha256:56b5492e12780558a5539cab14abd3ceb3198637cb2c43059d3ae8eaf078a9a2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DG4XIA27V23QTNET37W7QSU4QF/bundle.json","state_url":"https://pith.science/pith/DG4XIA27V23QTNET37W7QSU4QF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DG4XIA27V23QTNET37W7QSU4QF/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":"2026-08-08T18:58:43Z","links":{"resolver":"https://pith.science/pith/DG4XIA27V23QTNET37W7QSU4QF","bundle":"https://pith.science/pith/DG4XIA27V23QTNET37W7QSU4QF/bundle.json","state":"https://pith.science/pith/DG4XIA27V23QTNET37W7QSU4QF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DG4XIA27V23QTNET37W7QSU4QF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:DG4XIA27V23QTNET37W7QSU4QF","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":"22d4ba53b1cd758959264262ef5d9954cb5de8e6d30aca70a1bd65807188bab0","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T15:32:36Z","title_canon_sha256":"525ecdeb2c5050299c9f7d8df17962a6bb8dc81186ec3a5ef72ca530491256a6"},"schema_version":"1.0","source":{"id":"2309.11408","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.11408","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"arxiv_version","alias_value":"2309.11408v2","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.11408","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_12","alias_value":"DG4XIA27V23Q","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_16","alias_value":"DG4XIA27V23QTNET","created_at":"2026-07-05T08:02:01Z"},{"alias_kind":"pith_short_8","alias_value":"DG4XIA27","created_at":"2026-07-05T08:02:01Z"}],"graph_snapshots":[{"event_id":"sha256:56b5492e12780558a5539cab14abd3ceb3198637cb2c43059d3ae8eaf078a9a2","target":"graph","created_at":"2026-07-05T08:02:01Z","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/2309.11408/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Emergence and emergent behaviors are often defined as cases where changes in local interactions between agents at a lower level effectively changes what occurs in the higher level of the system (i.e., the whole swarm) and its properties. However, the manner in which these collective emergent behaviors self-organize is less understood. The focus of this paper is in presenting a new framework for characterizing the conditions that lead to different macrostates and how to predict/analyze their macroscopic properties, allowing us to indirectly engineer the same behaviors from the bottom up by tuni","authors_text":"Cameron Nowzari, Connor Mattson, Daniel S. Brown, Ricardo Vega","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T15:32:36Z","title":"Indirect Swarm Control: Characterization and Analysis of Emergent Swarm Behaviors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.11408","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":"sha256:7d112450587c5f047f25f20ac2b111bfe19c03275f8d267654c5607f1b88431c","target":"record","created_at":"2026-07-05T08:02:01Z","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":"22d4ba53b1cd758959264262ef5d9954cb5de8e6d30aca70a1bd65807188bab0","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-20T15:32:36Z","title_canon_sha256":"525ecdeb2c5050299c9f7d8df17962a6bb8dc81186ec3a5ef72ca530491256a6"},"schema_version":"1.0","source":{"id":"2309.11408","kind":"arxiv","version":2}},"canonical_sha256":"19b974035faeb709b493dfedf84a9c816c966e6188e80dbdfb1381f24863295d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"19b974035faeb709b493dfedf84a9c816c966e6188e80dbdfb1381f24863295d","first_computed_at":"2026-07-05T08:02:01.138759Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:02:01.138759Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"d/zXx1lFxtVgW9H0xPntqHYJYr1V4YYeVMwPU0R+x4nauvIYlvbM7Cdo760wZnsULAmy57b8LREfQJH1cDZaDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:02:01.139255Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.11408","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7d112450587c5f047f25f20ac2b111bfe19c03275f8d267654c5607f1b88431c","sha256:56b5492e12780558a5539cab14abd3ceb3198637cb2c43059d3ae8eaf078a9a2"],"state_sha256":"178a67ffc4b44050f555b7d28cf94f624bba6d98cf1f247afff96b35db26fd57"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rsIeOC3XH1oGM74r/t/rJY8/YtN6P9cts7qKzR5UaqMyFWJRSZr4Zo2qKO2k1z9x8gX/w+qpBn69qif/rhkeBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T18:58:43.090077Z","bundle_sha256":"69bb1488e55e29347827f4789447d9f974937f96ae70ed8466a986218f95df23"}}