{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:G2MCVXJVKAEXTKNFIJTPPV5FYC","short_pith_number":"pith:G2MCVXJV","canonical_record":{"source":{"id":"2504.18153","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2025-04-25T08:05:57Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"763a29b02cdb78fd084f83e69b6f9aa1c600ae07092eb770c5b22e5980f403e0","abstract_canon_sha256":"fe6080a360b0ad7eacca008f533f6eee31656d00d03955e3ffc7f9a5ab27197a"},"schema_version":"1.0"},"canonical_sha256":"36982add35500979a9a54266f7d7a5c097cf4766d985205dc4c90d339b60933e","source":{"kind":"arxiv","id":"2504.18153","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.18153","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"arxiv_version","alias_value":"2504.18153v1","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.18153","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_12","alias_value":"G2MCVXJVKAEX","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_16","alias_value":"G2MCVXJVKAEXTKNF","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_8","alias_value":"G2MCVXJV","created_at":"2026-07-05T10:54:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:G2MCVXJVKAEXTKNFIJTPPV5FYC","target":"record","payload":{"canonical_record":{"source":{"id":"2504.18153","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2025-04-25T08:05:57Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"763a29b02cdb78fd084f83e69b6f9aa1c600ae07092eb770c5b22e5980f403e0","abstract_canon_sha256":"fe6080a360b0ad7eacca008f533f6eee31656d00d03955e3ffc7f9a5ab27197a"},"schema_version":"1.0"},"canonical_sha256":"36982add35500979a9a54266f7d7a5c097cf4766d985205dc4c90d339b60933e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:54:02.834499Z","signature_b64":"cZ/8GyEHE7640vg1a/ZGRy2Ki3hnZ6mvtTYZIJ7/1x8rySmuPSz70189HiUNFFvFIGI09ehmywr+jyymDyxvBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"36982add35500979a9a54266f7d7a5c097cf4766d985205dc4c90d339b60933e","last_reissued_at":"2026-07-05T10:54:02.834032Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:54:02.834032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.18153","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":"2026-07-05T10:54:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d3QETX+CmTkDcmjILrfiejMOorK/aU9yT0+NhpKchZI6XP7cxqdLtHNwpPy5uBxGoeEcE0qPDvusRBb/2wqoBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T11:23:16.346328Z"},"content_sha256":"7c99b2ee3b7dcae2f817f0839049aa77ddbc75ccb5aded3715d2aacbbfc2d58e","schema_version":"1.0","event_id":"sha256:7c99b2ee3b7dcae2f817f0839049aa77ddbc75ccb5aded3715d2aacbbfc2d58e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:G2MCVXJVKAEXTKNFIJTPPV5FYC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multiple Target Tracking Using a UAV Swarm in Maritime Environments","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Andreas Anastasiou, Christos G. Panayiotou, Panayiotis Kolios, Savvas Papaioannou","submitted_at":"2025-04-25T08:05:57Z","abstract_excerpt":"Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this work, we introduce a collaborative model predictive control (MPC) framework aimed at addressing the joint problem of guidance and state estimation for tracking multiple castaway targets with a fleet of autonomous UAV agents. We assume that each UAV agent is equipped with a camera sensor, which has a limited sensing range and is utilized for receiving noisy obs"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.18153","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/2504.18153/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":"2026-07-05T10:54:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"54c+A694ssx1Gqy6O37W1TndudhNMsczVz+66HbebevVxJRgzGha7xK+5sMACbBfHmBAYlBTnBsGbRlSzh01DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T11:23:16.346958Z"},"content_sha256":"4e414859a8d7ad7908d93a3ddfa4b11a4cbbb2cfcf9109d0aad5f1a21dc92d29","schema_version":"1.0","event_id":"sha256:4e414859a8d7ad7908d93a3ddfa4b11a4cbbb2cfcf9109d0aad5f1a21dc92d29"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/bundle.json","state_url":"https://pith.science/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/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":"2026-08-22T11:23:16Z","links":{"resolver":"https://pith.science/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC","bundle":"https://pith.science/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/bundle.json","state":"https://pith.science/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/G2MCVXJVKAEXTKNFIJTPPV5FYC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:G2MCVXJVKAEXTKNFIJTPPV5FYC","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":"fe6080a360b0ad7eacca008f533f6eee31656d00d03955e3ffc7f9a5ab27197a","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2025-04-25T08:05:57Z","title_canon_sha256":"763a29b02cdb78fd084f83e69b6f9aa1c600ae07092eb770c5b22e5980f403e0"},"schema_version":"1.0","source":{"id":"2504.18153","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.18153","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"arxiv_version","alias_value":"2504.18153v1","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.18153","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_12","alias_value":"G2MCVXJVKAEX","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_16","alias_value":"G2MCVXJVKAEXTKNF","created_at":"2026-07-05T10:54:02Z"},{"alias_kind":"pith_short_8","alias_value":"G2MCVXJV","created_at":"2026-07-05T10:54:02Z"}],"graph_snapshots":[{"event_id":"sha256:4e414859a8d7ad7908d93a3ddfa4b11a4cbbb2cfcf9109d0aad5f1a21dc92d29","target":"graph","created_at":"2026-07-05T10:54:02Z","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/2504.18153/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this work, we introduce a collaborative model predictive control (MPC) framework aimed at addressing the joint problem of guidance and state estimation for tracking multiple castaway targets with a fleet of autonomous UAV agents. We assume that each UAV agent is equipped with a camera sensor, which has a limited sensing range and is utilized for receiving noisy obs","authors_text":"Andreas Anastasiou, Christos G. Panayiotou, Panayiotis Kolios, Savvas Papaioannou","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2025-04-25T08:05:57Z","title":"Multiple Target Tracking Using a UAV Swarm in Maritime Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.18153","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":"sha256:7c99b2ee3b7dcae2f817f0839049aa77ddbc75ccb5aded3715d2aacbbfc2d58e","target":"record","created_at":"2026-07-05T10:54:02Z","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":"fe6080a360b0ad7eacca008f533f6eee31656d00d03955e3ffc7f9a5ab27197a","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2025-04-25T08:05:57Z","title_canon_sha256":"763a29b02cdb78fd084f83e69b6f9aa1c600ae07092eb770c5b22e5980f403e0"},"schema_version":"1.0","source":{"id":"2504.18153","kind":"arxiv","version":1}},"canonical_sha256":"36982add35500979a9a54266f7d7a5c097cf4766d985205dc4c90d339b60933e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"36982add35500979a9a54266f7d7a5c097cf4766d985205dc4c90d339b60933e","first_computed_at":"2026-07-05T10:54:02.834032Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:54:02.834032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cZ/8GyEHE7640vg1a/ZGRy2Ki3hnZ6mvtTYZIJ7/1x8rySmuPSz70189HiUNFFvFIGI09ehmywr+jyymDyxvBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:54:02.834499Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.18153","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c99b2ee3b7dcae2f817f0839049aa77ddbc75ccb5aded3715d2aacbbfc2d58e","sha256:4e414859a8d7ad7908d93a3ddfa4b11a4cbbb2cfcf9109d0aad5f1a21dc92d29"],"state_sha256":"2278f76f510cb03e063407d0d7bb04d7149b75d1ae250c458f8b9fefb4fb214b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lIgHgwz2DYd/AUgkFZQ3ZcHTytrC3fu7dOhcqve9Om5Wd/VSkQ0MTkHE9TBqIjGqByc5wNa8oUTUwEENeEMuBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T11:23:16.350991Z","bundle_sha256":"1ef6fd5ef051bd84a67c15ad766b98715aba7539f47548872359494a30a5ac48"}}