{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:EK73RSFLUC2AFECS4I3CBRSS4B","short_pith_number":"pith:EK73RSFL","canonical_record":{"source":{"id":"2209.04381","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T16:28:15Z","cross_cats_sorted":[],"title_canon_sha256":"ace7afdfa68a95b368b5f922452e6bea4c66d606c02b0401b01c53c18e17b609","abstract_canon_sha256":"ca6b10c413be39adbb1a2661b6567375c3359ee3cbf8e396a12d2ef40ce8cd41"},"schema_version":"1.0"},"canonical_sha256":"22bfb8c8aba0b4029052e23620c652e0586aac296acff1609d4933c0b79e3954","source":{"kind":"arxiv","id":"2209.04381","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.04381","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"arxiv_version","alias_value":"2209.04381v2","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.04381","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_12","alias_value":"EK73RSFLUC2A","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_16","alias_value":"EK73RSFLUC2AFECS","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_8","alias_value":"EK73RSFL","created_at":"2026-07-05T04:59:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:EK73RSFLUC2AFECS4I3CBRSS4B","target":"record","payload":{"canonical_record":{"source":{"id":"2209.04381","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T16:28:15Z","cross_cats_sorted":[],"title_canon_sha256":"ace7afdfa68a95b368b5f922452e6bea4c66d606c02b0401b01c53c18e17b609","abstract_canon_sha256":"ca6b10c413be39adbb1a2661b6567375c3359ee3cbf8e396a12d2ef40ce8cd41"},"schema_version":"1.0"},"canonical_sha256":"22bfb8c8aba0b4029052e23620c652e0586aac296acff1609d4933c0b79e3954","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:59:42.188928Z","signature_b64":"sX6veazgSCJjIXFX2T6USjXHfwugNMEUxcgCw9pH+HBFMatxJWPm2vGK2/utYhUD4lPEdRJuwMEexc1Jb4BIBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"22bfb8c8aba0b4029052e23620c652e0586aac296acff1609d4933c0b79e3954","last_reissued_at":"2026-07-05T04:59:42.188574Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:59:42.188574Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.04381","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":"2026-07-05T04:59:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OmF4g92EAJ5StOklX5P9tz1yreCYzyDijasBuLeuelaXbV3GONEjdm0LLSf8ZdFAGw3k+VskczAykWvhddajAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T20:14:33.555378Z"},"content_sha256":"12a9826a331b9efda7bc8100b235186c85d440735379a3d37e0616f55e72512d","schema_version":"1.0","event_id":"sha256:12a9826a331b9efda7bc8100b235186c85d440735379a3d37e0616f55e72512d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:EK73RSFLUC2AFECS4I3CBRSS4B","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Resilient Consensus via Voronoi Communication Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"George Pappas, Kelsey Saulnier, Lifeng Zhou, Vijay Kumar","submitted_at":"2022-09-09T16:28:15Z","abstract_excerpt":"Consensus algorithms form the foundation for many distributed algorithms by enabling multiple robots to converge to consistent estimates of global variables using only local communication. However, standard consensus protocols can be easily led astray by non-cooperative team members. As such, the study of resilient forms of consensus is necessary for designing resilient distributed algorithms. W-MSR consensus is one such resilient consensus algorithm that allows for resilient consensus with only local knowledge of the communication graph and no a priori model for the data being shared. However"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.04381","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/2209.04381/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":"2026-07-05T04:59:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dbLXRL7h1Ygz34t2gb7sXy+N0CTilTz6Q+SAbGlzk1B0hxNGGw1MpmeSd2GZZA/jCyn6lDy/KD041XXufDAzAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T20:14:33.555850Z"},"content_sha256":"e22f5d070e5323f3c34ec5ce71b86c22bbc2472c4039fbad7a34d4b6a91ba6f4","schema_version":"1.0","event_id":"sha256:e22f5d070e5323f3c34ec5ce71b86c22bbc2472c4039fbad7a34d4b6a91ba6f4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EK73RSFLUC2AFECS4I3CBRSS4B/bundle.json","state_url":"https://pith.science/pith/EK73RSFLUC2AFECS4I3CBRSS4B/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EK73RSFLUC2AFECS4I3CBRSS4B/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":"2026-08-05T20:14:33Z","links":{"resolver":"https://pith.science/pith/EK73RSFLUC2AFECS4I3CBRSS4B","bundle":"https://pith.science/pith/EK73RSFLUC2AFECS4I3CBRSS4B/bundle.json","state":"https://pith.science/pith/EK73RSFLUC2AFECS4I3CBRSS4B/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EK73RSFLUC2AFECS4I3CBRSS4B/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:EK73RSFLUC2AFECS4I3CBRSS4B","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":"ca6b10c413be39adbb1a2661b6567375c3359ee3cbf8e396a12d2ef40ce8cd41","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T16:28:15Z","title_canon_sha256":"ace7afdfa68a95b368b5f922452e6bea4c66d606c02b0401b01c53c18e17b609"},"schema_version":"1.0","source":{"id":"2209.04381","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.04381","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"arxiv_version","alias_value":"2209.04381v2","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.04381","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_12","alias_value":"EK73RSFLUC2A","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_16","alias_value":"EK73RSFLUC2AFECS","created_at":"2026-07-05T04:59:42Z"},{"alias_kind":"pith_short_8","alias_value":"EK73RSFL","created_at":"2026-07-05T04:59:42Z"}],"graph_snapshots":[{"event_id":"sha256:e22f5d070e5323f3c34ec5ce71b86c22bbc2472c4039fbad7a34d4b6a91ba6f4","target":"graph","created_at":"2026-07-05T04:59:42Z","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/2209.04381/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Consensus algorithms form the foundation for many distributed algorithms by enabling multiple robots to converge to consistent estimates of global variables using only local communication. However, standard consensus protocols can be easily led astray by non-cooperative team members. As such, the study of resilient forms of consensus is necessary for designing resilient distributed algorithms. W-MSR consensus is one such resilient consensus algorithm that allows for resilient consensus with only local knowledge of the communication graph and no a priori model for the data being shared. However","authors_text":"George Pappas, Kelsey Saulnier, Lifeng Zhou, Vijay Kumar","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T16:28:15Z","title":"Resilient Consensus via Voronoi Communication Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.04381","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":"sha256:12a9826a331b9efda7bc8100b235186c85d440735379a3d37e0616f55e72512d","target":"record","created_at":"2026-07-05T04:59:42Z","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":"ca6b10c413be39adbb1a2661b6567375c3359ee3cbf8e396a12d2ef40ce8cd41","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T16:28:15Z","title_canon_sha256":"ace7afdfa68a95b368b5f922452e6bea4c66d606c02b0401b01c53c18e17b609"},"schema_version":"1.0","source":{"id":"2209.04381","kind":"arxiv","version":2}},"canonical_sha256":"22bfb8c8aba0b4029052e23620c652e0586aac296acff1609d4933c0b79e3954","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"22bfb8c8aba0b4029052e23620c652e0586aac296acff1609d4933c0b79e3954","first_computed_at":"2026-07-05T04:59:42.188574Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:59:42.188574Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sX6veazgSCJjIXFX2T6USjXHfwugNMEUxcgCw9pH+HBFMatxJWPm2vGK2/utYhUD4lPEdRJuwMEexc1Jb4BIBg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:59:42.188928Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.04381","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12a9826a331b9efda7bc8100b235186c85d440735379a3d37e0616f55e72512d","sha256:e22f5d070e5323f3c34ec5ce71b86c22bbc2472c4039fbad7a34d4b6a91ba6f4"],"state_sha256":"39e6cf52704086e5e97a67ce48c999a335128b9a9164dc054d00b7fbd20388ff"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UtISUPqLJUoyt/qiDgXaIe0Zz5s9rQmDe1gD6ImwxNMhF53CjHX+h4u+AsnFm28NEuo+C0kA0lldMpZykzoXAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T20:14:33.559316Z","bundle_sha256":"6a7b4bf8a30c54ed95301afd5795851198a88dde44afe33748bb899b1d799ad7"}}