{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:HLUKU74JJO6TSTR4GDLWGAKJUD","short_pith_number":"pith:HLUKU74J","canonical_record":{"source":{"id":"1612.08245","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-25T07:46:47Z","cross_cats_sorted":[],"title_canon_sha256":"dc1159be66a565321db795d36762a47e423e39cb55c04734cd4fd44585ff969e","abstract_canon_sha256":"c5866e53b0721ee951b37c66519a09c1fe8bb74f1ae675866ac86af18763f224"},"schema_version":"1.0"},"canonical_sha256":"3ae8aa7f894bbd394e3c30d7630149a0f8bb099bdf68c74690ed6239f7d5c9a1","source":{"kind":"arxiv","id":"1612.08245","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.08245","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"arxiv_version","alias_value":"1612.08245v1","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.08245","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"pith_short_12","alias_value":"HLUKU74JJO6T","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"HLUKU74JJO6TSTR4","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"HLUKU74J","created_at":"2026-05-18T12:30:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:HLUKU74JJO6TSTR4GDLWGAKJUD","target":"record","payload":{"canonical_record":{"source":{"id":"1612.08245","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-25T07:46:47Z","cross_cats_sorted":[],"title_canon_sha256":"dc1159be66a565321db795d36762a47e423e39cb55c04734cd4fd44585ff969e","abstract_canon_sha256":"c5866e53b0721ee951b37c66519a09c1fe8bb74f1ae675866ac86af18763f224"},"schema_version":"1.0"},"canonical_sha256":"3ae8aa7f894bbd394e3c30d7630149a0f8bb099bdf68c74690ed6239f7d5c9a1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:53:57.171966Z","signature_b64":"tgpP8/OK4Lv4LSjilIoqWxnt9SMDEZMaM9XCr/qRRkCyQlSO1pghun0ezf0RVrdfQpHW9PspoIXaDYGR00DqCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3ae8aa7f894bbd394e3c30d7630149a0f8bb099bdf68c74690ed6239f7d5c9a1","last_reissued_at":"2026-05-18T00:53:57.171524Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:53:57.171524Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1612.08245","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":"2026-05-18T00:53:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UafUXhn7I7SsfL4SzJvGCQXTkSvf1JqrdrlZsWG5ZgVhMMAWmN4yw/2qfucPDkyd/Ye7gHjwezOvKSB63uFVAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T10:47:10.870496Z"},"content_sha256":"4b4e3136f0b6f63ebddb992b5aeaed8cff1ac9aba645655d41bb35fb4d654dc0","schema_version":"1.0","event_id":"sha256:4b4e3136f0b6f63ebddb992b5aeaed8cff1ac9aba645655d41bb35fb4d654dc0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:HLUKU74JJO6TSTR4GDLWGAKJUD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed Infrastructure Inspection Path Planning subject to Time Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anthony Tzes, Christos Papachristos, Kostas Alexis, Roland Siegwart","submitted_at":"2016-12-25T07:46:47Z","abstract_excerpt":"Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the infrastructure facilities, accounts for their different importance and exploration function and computes an overall inspection path of high inspection reward while respecting the robot endurance or mission time constraints as well as the vehicle dynamics and sensor limitations. To achieve its goal, it employs an iterative, 3-step optimization strategy at eac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.08245","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":"2026-05-18T00:53:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DQLhDTgd9vYaJ+JqZ2lr091IvWoU7okcNgKU9JFhBNXXVKibUnhMxGikVk4ULzwnFhhgbpjLiZC9Etx48ECABA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T10:47:10.870861Z"},"content_sha256":"39c12862f0d6a0afcf26cf1a37b8f591772bcd66be2824c199c0b866bfb7e5fd","schema_version":"1.0","event_id":"sha256:39c12862f0d6a0afcf26cf1a37b8f591772bcd66be2824c199c0b866bfb7e5fd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/bundle.json","state_url":"https://pith.science/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/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":"2026-05-30T10:47:10Z","links":{"resolver":"https://pith.science/pith/HLUKU74JJO6TSTR4GDLWGAKJUD","bundle":"https://pith.science/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/bundle.json","state":"https://pith.science/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HLUKU74JJO6TSTR4GDLWGAKJUD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:HLUKU74JJO6TSTR4GDLWGAKJUD","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":"c5866e53b0721ee951b37c66519a09c1fe8bb74f1ae675866ac86af18763f224","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-25T07:46:47Z","title_canon_sha256":"dc1159be66a565321db795d36762a47e423e39cb55c04734cd4fd44585ff969e"},"schema_version":"1.0","source":{"id":"1612.08245","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.08245","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"arxiv_version","alias_value":"1612.08245v1","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.08245","created_at":"2026-05-18T00:53:57Z"},{"alias_kind":"pith_short_12","alias_value":"HLUKU74JJO6T","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"HLUKU74JJO6TSTR4","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"HLUKU74J","created_at":"2026-05-18T12:30:19Z"}],"graph_snapshots":[{"event_id":"sha256:39c12862f0d6a0afcf26cf1a37b8f591772bcd66be2824c199c0b866bfb7e5fd","target":"graph","created_at":"2026-05-18T00:53:57Z","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":"Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the infrastructure facilities, accounts for their different importance and exploration function and computes an overall inspection path of high inspection reward while respecting the robot endurance or mission time constraints as well as the vehicle dynamics and sensor limitations. To achieve its goal, it employs an iterative, 3-step optimization strategy at eac","authors_text":"Anthony Tzes, Christos Papachristos, Kostas Alexis, Roland Siegwart","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-25T07:46:47Z","title":"Distributed Infrastructure Inspection Path Planning subject to Time Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.08245","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":"sha256:4b4e3136f0b6f63ebddb992b5aeaed8cff1ac9aba645655d41bb35fb4d654dc0","target":"record","created_at":"2026-05-18T00:53:57Z","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":"c5866e53b0721ee951b37c66519a09c1fe8bb74f1ae675866ac86af18763f224","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-25T07:46:47Z","title_canon_sha256":"dc1159be66a565321db795d36762a47e423e39cb55c04734cd4fd44585ff969e"},"schema_version":"1.0","source":{"id":"1612.08245","kind":"arxiv","version":1}},"canonical_sha256":"3ae8aa7f894bbd394e3c30d7630149a0f8bb099bdf68c74690ed6239f7d5c9a1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3ae8aa7f894bbd394e3c30d7630149a0f8bb099bdf68c74690ed6239f7d5c9a1","first_computed_at":"2026-05-18T00:53:57.171524Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:53:57.171524Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tgpP8/OK4Lv4LSjilIoqWxnt9SMDEZMaM9XCr/qRRkCyQlSO1pghun0ezf0RVrdfQpHW9PspoIXaDYGR00DqCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:53:57.171966Z","signed_message":"canonical_sha256_bytes"},"source_id":"1612.08245","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4b4e3136f0b6f63ebddb992b5aeaed8cff1ac9aba645655d41bb35fb4d654dc0","sha256:39c12862f0d6a0afcf26cf1a37b8f591772bcd66be2824c199c0b866bfb7e5fd"],"state_sha256":"f111f704f984fb2e8465c5655f8cd198ca1f75a818ad14c157692d3ca711e49d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/MM44Z3KeKB/lIuFwniXqrVQ7mIniYvpTDMaDbaYsx41paZuyjcvC8H7qfzAzEB0MvzlotF5xKDwHMFJsvB2BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T10:47:10.873022Z","bundle_sha256":"ca251d33647155d2d1c42c800afb53fe8ac7686a0d59d113eaf6b4ea62156271"}}