{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GL74ZXK4HRMKAZISQV2B3K7PSK","short_pith_number":"pith:GL74ZXK4","canonical_record":{"source":{"id":"2605.29704","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T10:02:50Z","cross_cats_sorted":[],"title_canon_sha256":"b0e79cc67d2d100e54a8c13bff8c14b2d04aa1be3ec4e9221c02455bd7e89d45","abstract_canon_sha256":"8a4e94e805ded1b010c4ed52d01f7252823d32a8287823a4c39a310b5c47f35a"},"schema_version":"1.0"},"canonical_sha256":"32ffccdd5c3c58a0651285741dabef929410b313b5c9f698d685ad576eddd594","source":{"kind":"arxiv","id":"2605.29704","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.29704","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"arxiv_version","alias_value":"2605.29704v1","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.29704","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_12","alias_value":"GL74ZXK4HRMK","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_16","alias_value":"GL74ZXK4HRMKAZIS","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_8","alias_value":"GL74ZXK4","created_at":"2026-05-29T01:05:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GL74ZXK4HRMKAZISQV2B3K7PSK","target":"record","payload":{"canonical_record":{"source":{"id":"2605.29704","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T10:02:50Z","cross_cats_sorted":[],"title_canon_sha256":"b0e79cc67d2d100e54a8c13bff8c14b2d04aa1be3ec4e9221c02455bd7e89d45","abstract_canon_sha256":"8a4e94e805ded1b010c4ed52d01f7252823d32a8287823a4c39a310b5c47f35a"},"schema_version":"1.0"},"canonical_sha256":"32ffccdd5c3c58a0651285741dabef929410b313b5c9f698d685ad576eddd594","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-29T01:05:56.406870Z","signature_b64":"UorT3hubz5vTDr8B0gxy8KeiNVjjm45EsDhM1S2L4Dyg+0pwMxRArLbI/rPmUj7+pEHxY2MOXAfHT3V65ZenDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"32ffccdd5c3c58a0651285741dabef929410b313b5c9f698d685ad576eddd594","last_reissued_at":"2026-05-29T01:05:56.406413Z","signature_status":"signed_v1","first_computed_at":"2026-05-29T01:05:56.406413Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.29704","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":"2026-05-29T01:05:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Al1HasFatoqyib/4Po4WmmL5rVfIsZWbDwrd3ndh/Lil4aU8gEb9HLhJ/Oj3X8PyF2eufzaAuufqKGuAw+JfBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T22:39:19.704567Z"},"content_sha256":"250f2d50623070daf8207cacb856813ae546defc20efd359836e1220e8fe5513","schema_version":"1.0","event_id":"sha256:250f2d50623070daf8207cacb856813ae546defc20efd359836e1220e8fe5513"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GL74ZXK4HRMKAZISQV2B3K7PSK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"FLIP: Real-Time and Resilient Formation Planning for Large-Scale DIstributed Swarms via Point Cloud Registration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fei Gao, Guangtong Xu, Jialiang Hou, Yuan Zhou, Zhenyu Hou","submitted_at":"2026-05-28T10:02:50Z","abstract_excerpt":"Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve high-performance and large-scale formation planning, we transform the Optimal Formation Position Sequence \\cite{c1} (OFPS) calculation problem into a spatiotemporal Point Cloud Registration (PCR) problem. Each agent derives its OFPS by distributively computing the matching result between current positions and the desired formation positions of all other agents. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.29704","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/2605.29704/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":"2026-05-29T01:05:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EEXBbDU+pv5xJMpvbK6nfPRxqKNklnIIZbQUXSRW3k2TZBcocb+ksur8Pv4HY+AJKhut/XtCatzL2NxS50E6Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T22:39:19.704959Z"},"content_sha256":"c5ce94cc9de41d86850f1c203c3e95e2fcf28898f0e8e3da6706e63efd069605","schema_version":"1.0","event_id":"sha256:c5ce94cc9de41d86850f1c203c3e95e2fcf28898f0e8e3da6706e63efd069605"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/bundle.json","state_url":"https://pith.science/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/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":"2026-06-02T22:39:19Z","links":{"resolver":"https://pith.science/pith/GL74ZXK4HRMKAZISQV2B3K7PSK","bundle":"https://pith.science/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/bundle.json","state":"https://pith.science/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GL74ZXK4HRMKAZISQV2B3K7PSK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GL74ZXK4HRMKAZISQV2B3K7PSK","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":"8a4e94e805ded1b010c4ed52d01f7252823d32a8287823a4c39a310b5c47f35a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T10:02:50Z","title_canon_sha256":"b0e79cc67d2d100e54a8c13bff8c14b2d04aa1be3ec4e9221c02455bd7e89d45"},"schema_version":"1.0","source":{"id":"2605.29704","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.29704","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"arxiv_version","alias_value":"2605.29704v1","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.29704","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_12","alias_value":"GL74ZXK4HRMK","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_16","alias_value":"GL74ZXK4HRMKAZIS","created_at":"2026-05-29T01:05:56Z"},{"alias_kind":"pith_short_8","alias_value":"GL74ZXK4","created_at":"2026-05-29T01:05:56Z"}],"graph_snapshots":[{"event_id":"sha256:c5ce94cc9de41d86850f1c203c3e95e2fcf28898f0e8e3da6706e63efd069605","target":"graph","created_at":"2026-05-29T01:05:56Z","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/2605.29704/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve high-performance and large-scale formation planning, we transform the Optimal Formation Position Sequence \\cite{c1} (OFPS) calculation problem into a spatiotemporal Point Cloud Registration (PCR) problem. Each agent derives its OFPS by distributively computing the matching result between current positions and the desired formation positions of all other agents. ","authors_text":"Fei Gao, Guangtong Xu, Jialiang Hou, Yuan Zhou, Zhenyu Hou","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T10:02:50Z","title":"FLIP: Real-Time and Resilient Formation Planning for Large-Scale DIstributed Swarms via Point Cloud Registration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.29704","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":"sha256:250f2d50623070daf8207cacb856813ae546defc20efd359836e1220e8fe5513","target":"record","created_at":"2026-05-29T01:05:56Z","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":"8a4e94e805ded1b010c4ed52d01f7252823d32a8287823a4c39a310b5c47f35a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T10:02:50Z","title_canon_sha256":"b0e79cc67d2d100e54a8c13bff8c14b2d04aa1be3ec4e9221c02455bd7e89d45"},"schema_version":"1.0","source":{"id":"2605.29704","kind":"arxiv","version":1}},"canonical_sha256":"32ffccdd5c3c58a0651285741dabef929410b313b5c9f698d685ad576eddd594","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32ffccdd5c3c58a0651285741dabef929410b313b5c9f698d685ad576eddd594","first_computed_at":"2026-05-29T01:05:56.406413Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-29T01:05:56.406413Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UorT3hubz5vTDr8B0gxy8KeiNVjjm45EsDhM1S2L4Dyg+0pwMxRArLbI/rPmUj7+pEHxY2MOXAfHT3V65ZenDA==","signature_status":"signed_v1","signed_at":"2026-05-29T01:05:56.406870Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.29704","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:250f2d50623070daf8207cacb856813ae546defc20efd359836e1220e8fe5513","sha256:c5ce94cc9de41d86850f1c203c3e95e2fcf28898f0e8e3da6706e63efd069605"],"state_sha256":"01849aba504a9353bd9d2fc786c0d6e4abe65b0cdafbed10c3055e48f0d1a527"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fjkg+H9u/qx1UID/1z/y/mWNIoLCF9fn+rsiLj4BO7+z/wRq6hEDNvYCf1nr+uUNj0rTP95C/+01VcNz07pqBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T22:39:19.707006Z","bundle_sha256":"89ad252543fafc9b73790102025e98ffefd8bead79aa7cd9a5e86b9a44032c25"}}