{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:GYN4LPVZNIZNGJG7SBMF6ZDMRB","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":"df4a8c5eaa8897070e2f0d106388ecc2b88f9c7c691d36fb8dc82b9713a6bd8d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-25T09:31:22Z","title_canon_sha256":"382951cc65409c9c942238cea281fa537473f21c881c3b9ae2aaae48c5f7cf67"},"schema_version":"1.0","source":{"id":"2507.19100","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.19100","created_at":"2026-07-05T11:45:38Z"},{"alias_kind":"arxiv_version","alias_value":"2507.19100v1","created_at":"2026-07-05T11:45:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.19100","created_at":"2026-07-05T11:45:38Z"},{"alias_kind":"pith_short_12","alias_value":"GYN4LPVZNIZN","created_at":"2026-07-05T11:45:38Z"},{"alias_kind":"pith_short_16","alias_value":"GYN4LPVZNIZNGJG7","created_at":"2026-07-05T11:45:38Z"},{"alias_kind":"pith_short_8","alias_value":"GYN4LPVZ","created_at":"2026-07-05T11:45:38Z"}],"graph_snapshots":[{"event_id":"sha256:fdc1874b43e97013df830c98b039a11bb61b5d6aba285287e737ce671a17894e","target":"graph","created_at":"2026-07-05T11:45:38Z","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/2507.19100/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position o","authors_text":"Il Bae, Jin Hyo Kim, Ji-Wook Kwon, Taewon Kang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-25T09:31:22Z","title":"Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.19100","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:a56a5d7b5369b383967f351742a6244010d80693b667e962e35e109341f99d82","target":"record","created_at":"2026-07-05T11:45:38Z","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":"df4a8c5eaa8897070e2f0d106388ecc2b88f9c7c691d36fb8dc82b9713a6bd8d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-25T09:31:22Z","title_canon_sha256":"382951cc65409c9c942238cea281fa537473f21c881c3b9ae2aaae48c5f7cf67"},"schema_version":"1.0","source":{"id":"2507.19100","kind":"arxiv","version":1}},"canonical_sha256":"361bc5beb96a32d324df90585f646c8875e58f2e5c25bf6f05afc7ef6e1d7be9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"361bc5beb96a32d324df90585f646c8875e58f2e5c25bf6f05afc7ef6e1d7be9","first_computed_at":"2026-07-05T11:45:38.176852Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:45:38.176852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Vz1CJh7I0/1SW7eomB3ML7NDAJqDlWS9/2KxD5LU1KdmupANjQcRaSG652iOmmRgAI/SKn8z+FRh6TqXCxP+BA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:45:38.177342Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.19100","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a56a5d7b5369b383967f351742a6244010d80693b667e962e35e109341f99d82","sha256:fdc1874b43e97013df830c98b039a11bb61b5d6aba285287e737ce671a17894e"],"state_sha256":"9fdb8c0a0a52ed65f9e82c5caf681c97be4dd3b9de46276dadfcb482e44f2476"}