{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:GH65KFVR6VVE27J2GYBPOI45DP","short_pith_number":"pith:GH65KFVR","canonical_record":{"source":{"id":"1608.02286","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-08-08T00:13:28Z","cross_cats_sorted":["cs.MA","cs.SY","math.DS"],"title_canon_sha256":"e9f963c59dfee641233c52c06c7b5ef2302e6f9c0f18b2e2bfd7d9709581d1a5","abstract_canon_sha256":"79ab245b247a8833308ae2b808616c1e76125dc36859fe7b22da19a3c5af8dde"},"schema_version":"1.0"},"canonical_sha256":"31fdd516b1f56a4d7d3a3602f7239d1bf8566f1c274feda697eca7cc00cc3839","source":{"kind":"arxiv","id":"1608.02286","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.02286","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"arxiv_version","alias_value":"1608.02286v1","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.02286","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"pith_short_12","alias_value":"GH65KFVR6VVE","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"GH65KFVR6VVE27J2","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"GH65KFVR","created_at":"2026-05-18T12:30:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:GH65KFVR6VVE27J2GYBPOI45DP","target":"record","payload":{"canonical_record":{"source":{"id":"1608.02286","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-08-08T00:13:28Z","cross_cats_sorted":["cs.MA","cs.SY","math.DS"],"title_canon_sha256":"e9f963c59dfee641233c52c06c7b5ef2302e6f9c0f18b2e2bfd7d9709581d1a5","abstract_canon_sha256":"79ab245b247a8833308ae2b808616c1e76125dc36859fe7b22da19a3c5af8dde"},"schema_version":"1.0"},"canonical_sha256":"31fdd516b1f56a4d7d3a3602f7239d1bf8566f1c274feda697eca7cc00cc3839","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:08:37.553053Z","signature_b64":"whCacqGaXRzB+j+A/mZ7WHPJrpUzbc2aD1+gsuwKTpeluaoY0O7F5k6+yE81Aj3BbmGYi5zmuMXhb7z+6wAOAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"31fdd516b1f56a4d7d3a3602f7239d1bf8566f1c274feda697eca7cc00cc3839","last_reissued_at":"2026-05-18T01:08:37.552399Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:08:37.552399Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1608.02286","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":"2026-05-18T01:08:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pi13BcEBaLgY7xdiQ49YKz6N5yeKEdlGCTC58TJmY2FsfmIuzVwDlDFyFsr+dW9xiQs66u7becxkS4hFntesBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T14:23:16.459357Z"},"content_sha256":"12924a6ed98dba792b80f7a7393e4a683dfb9718006c4c31967247e69af8f31e","schema_version":"1.0","event_id":"sha256:12924a6ed98dba792b80f7a7393e4a683dfb9718006c4c31967247e69af8f31e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:GH65KFVR6VVE27J2GYBPOI45DP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Enforcing Biconnectivity in Multi-robot Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.SY","math.DS"],"primary_cat":"cs.RO","authors_text":"Cristian Secchi, Lorenzo Sabattini, Mehran Zareh","submitted_at":"2016-08-08T00:13:28Z","abstract_excerpt":"Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. A connected system can be broken into two or more subsets simply if a single robot fails. A more robust communication can be achieved if the network connectivity is guaranteed in the case of one-robot failures. The resulting network is called biconnected. In \\cite{Zareh2016biconnectivitycheck}, we presented a criterion for biconnectivity check, which basically determines a lower bound on the third-smallest eigenvalue of the Laplacian matrix. In this paper, we"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.02286","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":""},"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":"2026-05-18T01:08:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UpNjNDJHMjqANRV6tTJYMMzIsrhH/UVD6E1+faIseiR0e6kz2eekXfb4ta09Q7D0tmUlqIyWAIYt+3bHl1djBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T14:23:16.459928Z"},"content_sha256":"1c2cc0800ebeea87cbd79bb19f4b1701cfae7412ab150019950db0215af9e07c","schema_version":"1.0","event_id":"sha256:1c2cc0800ebeea87cbd79bb19f4b1701cfae7412ab150019950db0215af9e07c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GH65KFVR6VVE27J2GYBPOI45DP/bundle.json","state_url":"https://pith.science/pith/GH65KFVR6VVE27J2GYBPOI45DP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GH65KFVR6VVE27J2GYBPOI45DP/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":"2026-06-08T14:23:16Z","links":{"resolver":"https://pith.science/pith/GH65KFVR6VVE27J2GYBPOI45DP","bundle":"https://pith.science/pith/GH65KFVR6VVE27J2GYBPOI45DP/bundle.json","state":"https://pith.science/pith/GH65KFVR6VVE27J2GYBPOI45DP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GH65KFVR6VVE27J2GYBPOI45DP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:GH65KFVR6VVE27J2GYBPOI45DP","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":"79ab245b247a8833308ae2b808616c1e76125dc36859fe7b22da19a3c5af8dde","cross_cats_sorted":["cs.MA","cs.SY","math.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-08-08T00:13:28Z","title_canon_sha256":"e9f963c59dfee641233c52c06c7b5ef2302e6f9c0f18b2e2bfd7d9709581d1a5"},"schema_version":"1.0","source":{"id":"1608.02286","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1608.02286","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"arxiv_version","alias_value":"1608.02286v1","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1608.02286","created_at":"2026-05-18T01:08:37Z"},{"alias_kind":"pith_short_12","alias_value":"GH65KFVR6VVE","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"GH65KFVR6VVE27J2","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"GH65KFVR","created_at":"2026-05-18T12:30:19Z"}],"graph_snapshots":[{"event_id":"sha256:1c2cc0800ebeea87cbd79bb19f4b1701cfae7412ab150019950db0215af9e07c","target":"graph","created_at":"2026-05-18T01:08:37Z","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"},"paper":{"abstract_excerpt":"Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. A connected system can be broken into two or more subsets simply if a single robot fails. A more robust communication can be achieved if the network connectivity is guaranteed in the case of one-robot failures. The resulting network is called biconnected. In \\cite{Zareh2016biconnectivitycheck}, we presented a criterion for biconnectivity check, which basically determines a lower bound on the third-smallest eigenvalue of the Laplacian matrix. In this paper, we","authors_text":"Cristian Secchi, Lorenzo Sabattini, Mehran Zareh","cross_cats":["cs.MA","cs.SY","math.DS"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-08-08T00:13:28Z","title":"Enforcing Biconnectivity in Multi-robot Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1608.02286","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":"sha256:12924a6ed98dba792b80f7a7393e4a683dfb9718006c4c31967247e69af8f31e","target":"record","created_at":"2026-05-18T01:08:37Z","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":"79ab245b247a8833308ae2b808616c1e76125dc36859fe7b22da19a3c5af8dde","cross_cats_sorted":["cs.MA","cs.SY","math.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-08-08T00:13:28Z","title_canon_sha256":"e9f963c59dfee641233c52c06c7b5ef2302e6f9c0f18b2e2bfd7d9709581d1a5"},"schema_version":"1.0","source":{"id":"1608.02286","kind":"arxiv","version":1}},"canonical_sha256":"31fdd516b1f56a4d7d3a3602f7239d1bf8566f1c274feda697eca7cc00cc3839","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"31fdd516b1f56a4d7d3a3602f7239d1bf8566f1c274feda697eca7cc00cc3839","first_computed_at":"2026-05-18T01:08:37.552399Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:08:37.552399Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"whCacqGaXRzB+j+A/mZ7WHPJrpUzbc2aD1+gsuwKTpeluaoY0O7F5k6+yE81Aj3BbmGYi5zmuMXhb7z+6wAOAA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:08:37.553053Z","signed_message":"canonical_sha256_bytes"},"source_id":"1608.02286","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:12924a6ed98dba792b80f7a7393e4a683dfb9718006c4c31967247e69af8f31e","sha256:1c2cc0800ebeea87cbd79bb19f4b1701cfae7412ab150019950db0215af9e07c"],"state_sha256":"201afcb8f0a11a0d3f11de4279b153018d099d3ddbbf4c7d890571180131acc7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+j1iTKdAl56mMPRSh448Q6GHGkCMTwdGRIp9B1B1/7FIFHBfo7Zin/jFwhPeKhnCWuG2ntI44uLhnegqsXmzCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T14:23:16.463000Z","bundle_sha256":"b3ba901142c5264aae2e05a2f4ef1d32a403eb139802f23f1e840f68cb09f6f4"}}