{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:HPTEAY5WD7Y73IMKRSNNZ4XEYV","short_pith_number":"pith:HPTEAY5W","canonical_record":{"source":{"id":"2310.02211","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NI","submitted_at":"2023-10-03T17:08:45Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"title_canon_sha256":"bd8d109dcdbd0c24c15bdff75f45372d36b34c57ee5f5db2e6a38da7aa1227ec","abstract_canon_sha256":"bb2fa3d5328da39ca662f3cb9139cfe9a1d04c4de79e2d5e3e67d39a448d0173"},"schema_version":"1.0"},"canonical_sha256":"3be64063b61ff1fda18a8c9adcf2e4c54ea1b433eb23195991c04ccdcce1717c","source":{"kind":"arxiv","id":"2310.02211","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.02211","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"arxiv_version","alias_value":"2310.02211v1","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.02211","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_12","alias_value":"HPTEAY5WD7Y7","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_16","alias_value":"HPTEAY5WD7Y73IMK","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_8","alias_value":"HPTEAY5W","created_at":"2026-07-05T06:56:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:HPTEAY5WD7Y73IMKRSNNZ4XEYV","target":"record","payload":{"canonical_record":{"source":{"id":"2310.02211","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NI","submitted_at":"2023-10-03T17:08:45Z","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"title_canon_sha256":"bd8d109dcdbd0c24c15bdff75f45372d36b34c57ee5f5db2e6a38da7aa1227ec","abstract_canon_sha256":"bb2fa3d5328da39ca662f3cb9139cfe9a1d04c4de79e2d5e3e67d39a448d0173"},"schema_version":"1.0"},"canonical_sha256":"3be64063b61ff1fda18a8c9adcf2e4c54ea1b433eb23195991c04ccdcce1717c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:56:51.385688Z","signature_b64":"Sq707sgOkC/1Y4qTDsK5CnknF/3+sTc3LGhS78ahf52ETiWySbW7zQWF8ey8Mjt0cYg//AlH9E3kLB3GiMjbAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3be64063b61ff1fda18a8c9adcf2e4c54ea1b433eb23195991c04ccdcce1717c","last_reissued_at":"2026-07-05T06:56:51.385208Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:56:51.385208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.02211","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":"2026-07-05T06:56:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cXBD48DCT2ov6JKdaFJfzUw81PBbjla1SH6iLGuGqZHjv56PyRxlvJwCRPdytEAXHAUeZlPbASLOz+Q4WqWoBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:01:13.739831Z"},"content_sha256":"358bdd09943840fc9bd220b5edbcdc3d025e7b64095b87052a5cfc261bad33f8","schema_version":"1.0","event_id":"sha256:358bdd09943840fc9bd220b5edbcdc3d025e7b64095b87052a5cfc261bad33f8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:HPTEAY5WD7Y73IMKRSNNZ4XEYV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Fast Localization and Tracking in City-Scale UWB Networks","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO","cs.SY","eess.SY"],"primary_cat":"cs.NI","authors_text":"Irtaza Shahid, Karthikeyan Sundaresan, Nakul Garg, Nirupam Roy, Ramanujan K Sheshadri","submitted_at":"2023-10-03T17:08:45Z","abstract_excerpt":"Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G communication networks. In this paper, we present Locate3D, a novel system for peer-to-peer node localization and orientation estimation in large networks. Unlike traditional range-only methods, Locate3D introduces angle-of-arrival (AoA) data as an added network topology constraint. The system solves three key challenges: it uses angles to reduce the number "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.02211","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/2310.02211/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":"2026-07-05T06:56:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uc8sO+Sa3FUhPawj3o05xQXrFVtx0jOQAQ11EQ2E4CCurEu6Xr/yEtbzizhpL+f6ZMotS1e5s7RcDJNskB7wAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:01:13.740204Z"},"content_sha256":"48dcba05f641a3ee5ede84179b3b6ab6ecbccbab79d734fa7b688c96472429f5","schema_version":"1.0","event_id":"sha256:48dcba05f641a3ee5ede84179b3b6ab6ecbccbab79d734fa7b688c96472429f5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/bundle.json","state_url":"https://pith.science/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/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":"2026-07-07T06:01:13Z","links":{"resolver":"https://pith.science/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV","bundle":"https://pith.science/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/bundle.json","state":"https://pith.science/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HPTEAY5WD7Y73IMKRSNNZ4XEYV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:HPTEAY5WD7Y73IMKRSNNZ4XEYV","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":"bb2fa3d5328da39ca662f3cb9139cfe9a1d04c4de79e2d5e3e67d39a448d0173","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NI","submitted_at":"2023-10-03T17:08:45Z","title_canon_sha256":"bd8d109dcdbd0c24c15bdff75f45372d36b34c57ee5f5db2e6a38da7aa1227ec"},"schema_version":"1.0","source":{"id":"2310.02211","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.02211","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"arxiv_version","alias_value":"2310.02211v1","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.02211","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_12","alias_value":"HPTEAY5WD7Y7","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_16","alias_value":"HPTEAY5WD7Y73IMK","created_at":"2026-07-05T06:56:51Z"},{"alias_kind":"pith_short_8","alias_value":"HPTEAY5W","created_at":"2026-07-05T06:56:51Z"}],"graph_snapshots":[{"event_id":"sha256:48dcba05f641a3ee5ede84179b3b6ab6ecbccbab79d734fa7b688c96472429f5","target":"graph","created_at":"2026-07-05T06:56:51Z","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/2310.02211/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G communication networks. In this paper, we present Locate3D, a novel system for peer-to-peer node localization and orientation estimation in large networks. Unlike traditional range-only methods, Locate3D introduces angle-of-arrival (AoA) data as an added network topology constraint. The system solves three key challenges: it uses angles to reduce the number ","authors_text":"Irtaza Shahid, Karthikeyan Sundaresan, Nakul Garg, Nirupam Roy, Ramanujan K Sheshadri","cross_cats":["cs.RO","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NI","submitted_at":"2023-10-03T17:08:45Z","title":"Fast Localization and Tracking in City-Scale UWB Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.02211","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":"sha256:358bdd09943840fc9bd220b5edbcdc3d025e7b64095b87052a5cfc261bad33f8","target":"record","created_at":"2026-07-05T06:56:51Z","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":"bb2fa3d5328da39ca662f3cb9139cfe9a1d04c4de79e2d5e3e67d39a448d0173","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NI","submitted_at":"2023-10-03T17:08:45Z","title_canon_sha256":"bd8d109dcdbd0c24c15bdff75f45372d36b34c57ee5f5db2e6a38da7aa1227ec"},"schema_version":"1.0","source":{"id":"2310.02211","kind":"arxiv","version":1}},"canonical_sha256":"3be64063b61ff1fda18a8c9adcf2e4c54ea1b433eb23195991c04ccdcce1717c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3be64063b61ff1fda18a8c9adcf2e4c54ea1b433eb23195991c04ccdcce1717c","first_computed_at":"2026-07-05T06:56:51.385208Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:56:51.385208Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Sq707sgOkC/1Y4qTDsK5CnknF/3+sTc3LGhS78ahf52ETiWySbW7zQWF8ey8Mjt0cYg//AlH9E3kLB3GiMjbAA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:56:51.385688Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.02211","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:358bdd09943840fc9bd220b5edbcdc3d025e7b64095b87052a5cfc261bad33f8","sha256:48dcba05f641a3ee5ede84179b3b6ab6ecbccbab79d734fa7b688c96472429f5"],"state_sha256":"dac7ab646323b5e317d9c80e9ca12e5725fc8ad879f07ac55f05ee720929f441"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fK/CENSG60iJHnJhf3ADOiS004B0MxcJFKv/ChuUn9ZXo2UcOoirN/dC82Dm/nI8gD8oij1HSkAH9ynhp8BwAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:01:13.742157Z","bundle_sha256":"cd70bcd16f1e64f2a44dd24864054af5f9744124841cc770bddb06a7146e692f"}}