{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:F6KF4VJS673TT5JRKD3LMKITJ6","short_pith_number":"pith:F6KF4VJS","canonical_record":{"source":{"id":"2409.00766","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-01T16:19:10Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"e1e3debdd171b068f82002648a685e21cac5659761af931ebf83d139020c2438","abstract_canon_sha256":"db54c602449892b30c55372266f78968e5c5d174af12b0ae731dbcba5c0a514f"},"schema_version":"1.0"},"canonical_sha256":"2f945e5532f7f739f53150f6b629134f9af4502afb68e0fdd2ed561c1ca42275","source":{"kind":"arxiv","id":"2409.00766","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.00766","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"arxiv_version","alias_value":"2409.00766v1","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.00766","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_12","alias_value":"F6KF4VJS673T","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_16","alias_value":"F6KF4VJS673TT5JR","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_8","alias_value":"F6KF4VJS","created_at":"2026-07-05T09:01:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:F6KF4VJS673TT5JRKD3LMKITJ6","target":"record","payload":{"canonical_record":{"source":{"id":"2409.00766","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-01T16:19:10Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"e1e3debdd171b068f82002648a685e21cac5659761af931ebf83d139020c2438","abstract_canon_sha256":"db54c602449892b30c55372266f78968e5c5d174af12b0ae731dbcba5c0a514f"},"schema_version":"1.0"},"canonical_sha256":"2f945e5532f7f739f53150f6b629134f9af4502afb68e0fdd2ed561c1ca42275","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:01:53.114272Z","signature_b64":"T6oiPWLMo6w+c6qVatnvuRD3kyzsi2FMOyEN+hdrN5MRYlnmQfXwdBHhJW7grBTY7dU8ZQBEqnBSj+uHsBPtBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2f945e5532f7f739f53150f6b629134f9af4502afb68e0fdd2ed561c1ca42275","last_reissued_at":"2026-07-05T09:01:53.113821Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:01:53.113821Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.00766","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":"2026-07-05T09:01:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xOSiC/tNPLZ+7ptPgMllA0mthjgkXOf6Jb1W4cCeG9S4nqQ5xC52rMrwE2Dt8eJ7lPqQYKQ3xlHuz5z5IxdbDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T18:12:36.976943Z"},"content_sha256":"395a5cb1a647ec600c87d9e36692df05ddec4e0bd5bf00b43e9c024196610bb8","schema_version":"1.0","event_id":"sha256:395a5cb1a647ec600c87d9e36692df05ddec4e0bd5bf00b43e9c024196610bb8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:F6KF4VJS673TT5JRKD3LMKITJ6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamic Subgoal based Path Formation and Task Allocation: A NeuroFleets Approach to Scalable Swarm Robotics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Dzmitry Tsetserukou, Eugene Yugarajah Andrew Charles, Lavanya Ratnabala, Robinroy Peter","submitted_at":"2024-09-01T16:19:10Z","abstract_excerpt":"This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to navigate effectively. We designed the task allocation and path formation process based on a finite state machine, ensuring systematic decision-making and efficient state transitions. The approach is decentralized, allowing each robot to make decisions independently based on local information, which enhances scalability and robustness. We present a novel subgoal"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.00766","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/2409.00766/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":"2026-07-05T09:01:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uV7KVdpWo1+oKeNyKJSd1VUfgqi5WZkW6NFbFKNml7l07IQkUIGIj6oN0YGQN3G0G8ozm6561LQlh3bU5ZCrCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T18:12:36.977300Z"},"content_sha256":"97559adc8028b8144a367dd25a1c0278de3a6f1c0ee244ae37d6553e0be213de","schema_version":"1.0","event_id":"sha256:97559adc8028b8144a367dd25a1c0278de3a6f1c0ee244ae37d6553e0be213de"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/F6KF4VJS673TT5JRKD3LMKITJ6/bundle.json","state_url":"https://pith.science/pith/F6KF4VJS673TT5JRKD3LMKITJ6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/F6KF4VJS673TT5JRKD3LMKITJ6/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":"2026-07-08T18:12:36Z","links":{"resolver":"https://pith.science/pith/F6KF4VJS673TT5JRKD3LMKITJ6","bundle":"https://pith.science/pith/F6KF4VJS673TT5JRKD3LMKITJ6/bundle.json","state":"https://pith.science/pith/F6KF4VJS673TT5JRKD3LMKITJ6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/F6KF4VJS673TT5JRKD3LMKITJ6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:F6KF4VJS673TT5JRKD3LMKITJ6","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":"db54c602449892b30c55372266f78968e5c5d174af12b0ae731dbcba5c0a514f","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-01T16:19:10Z","title_canon_sha256":"e1e3debdd171b068f82002648a685e21cac5659761af931ebf83d139020c2438"},"schema_version":"1.0","source":{"id":"2409.00766","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.00766","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"arxiv_version","alias_value":"2409.00766v1","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.00766","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_12","alias_value":"F6KF4VJS673T","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_16","alias_value":"F6KF4VJS673TT5JR","created_at":"2026-07-05T09:01:53Z"},{"alias_kind":"pith_short_8","alias_value":"F6KF4VJS","created_at":"2026-07-05T09:01:53Z"}],"graph_snapshots":[{"event_id":"sha256:97559adc8028b8144a367dd25a1c0278de3a6f1c0ee244ae37d6553e0be213de","target":"graph","created_at":"2026-07-05T09:01:53Z","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/2409.00766/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to navigate effectively. We designed the task allocation and path formation process based on a finite state machine, ensuring systematic decision-making and efficient state transitions. The approach is decentralized, allowing each robot to make decisions independently based on local information, which enhances scalability and robustness. We present a novel subgoal","authors_text":"Dzmitry Tsetserukou, Eugene Yugarajah Andrew Charles, Lavanya Ratnabala, Robinroy Peter","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-01T16:19:10Z","title":"Dynamic Subgoal based Path Formation and Task Allocation: A NeuroFleets Approach to Scalable Swarm Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.00766","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":"sha256:395a5cb1a647ec600c87d9e36692df05ddec4e0bd5bf00b43e9c024196610bb8","target":"record","created_at":"2026-07-05T09:01:53Z","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":"db54c602449892b30c55372266f78968e5c5d174af12b0ae731dbcba5c0a514f","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-01T16:19:10Z","title_canon_sha256":"e1e3debdd171b068f82002648a685e21cac5659761af931ebf83d139020c2438"},"schema_version":"1.0","source":{"id":"2409.00766","kind":"arxiv","version":1}},"canonical_sha256":"2f945e5532f7f739f53150f6b629134f9af4502afb68e0fdd2ed561c1ca42275","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2f945e5532f7f739f53150f6b629134f9af4502afb68e0fdd2ed561c1ca42275","first_computed_at":"2026-07-05T09:01:53.113821Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:01:53.113821Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"T6oiPWLMo6w+c6qVatnvuRD3kyzsi2FMOyEN+hdrN5MRYlnmQfXwdBHhJW7grBTY7dU8ZQBEqnBSj+uHsBPtBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:01:53.114272Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.00766","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:395a5cb1a647ec600c87d9e36692df05ddec4e0bd5bf00b43e9c024196610bb8","sha256:97559adc8028b8144a367dd25a1c0278de3a6f1c0ee244ae37d6553e0be213de"],"state_sha256":"d11dbee727b38a8e93883330f70f7e8ca862a267702f702540edca2b155c548d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QGQnsAzMuFtBDnhpFOoAUagUNWLXLnWTo01i67T9FaHouC7upksYL4tFt2TeWz/4NBKLjMa5qGTq9coIxRslCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T18:12:36.979388Z","bundle_sha256":"61aee4dcbc4730193659d6f5919807b3efba624675258125a6c5743fdceb2a74"}}