{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:JRBUXTOX2EIWIM6QWGZXFV72JQ","short_pith_number":"pith:JRBUXTOX","canonical_record":{"source":{"id":"1505.05441","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-20T16:13:03Z","cross_cats_sorted":[],"title_canon_sha256":"118b888e730a1056080810e1829adb47940dc6e75d9870bbdd2cc8484eb1db4c","abstract_canon_sha256":"0fc4673d59f93decdbd249e5787f8459d4e37512d239b9ee3b122d4e1ff05585"},"schema_version":"1.0"},"canonical_sha256":"4c434bcdd7d1116433d0b1b372d7fa4c2d99cbf0c6463b30d14d0609246e2fc6","source":{"kind":"arxiv","id":"1505.05441","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.05441","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"arxiv_version","alias_value":"1505.05441v3","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.05441","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"pith_short_12","alias_value":"JRBUXTOX2EIW","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_16","alias_value":"JRBUXTOX2EIWIM6Q","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_8","alias_value":"JRBUXTOX","created_at":"2026-05-18T12:29:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:JRBUXTOX2EIWIM6QWGZXFV72JQ","target":"record","payload":{"canonical_record":{"source":{"id":"1505.05441","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-20T16:13:03Z","cross_cats_sorted":[],"title_canon_sha256":"118b888e730a1056080810e1829adb47940dc6e75d9870bbdd2cc8484eb1db4c","abstract_canon_sha256":"0fc4673d59f93decdbd249e5787f8459d4e37512d239b9ee3b122d4e1ff05585"},"schema_version":"1.0"},"canonical_sha256":"4c434bcdd7d1116433d0b1b372d7fa4c2d99cbf0c6463b30d14d0609246e2fc6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:48:37.637329Z","signature_b64":"sXexBOd3B3BgcjwH/+IyfocV1QNyosZ7XMJLPB/DQO2z08eUozy543h2P20oodl/6GoJqICal5r/JyZR2JXJAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4c434bcdd7d1116433d0b1b372d7fa4c2d99cbf0c6463b30d14d0609246e2fc6","last_reissued_at":"2026-05-18T00:48:37.636631Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:48:37.636631Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1505.05441","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:48:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TjapJT154sw/prDGTT7wgNWK+q41JnHoUGdW+uurcBVV9skBaHp8t35VnBQ5KtwdJcmcrWGDFTGvw7q+vjf0Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T07:33:30.656825Z"},"content_sha256":"86d2e3c4592f534ecd5c386dbd883088d104978946bd7a3918acdac6c144993d","schema_version":"1.0","event_id":"sha256:86d2e3c4592f534ecd5c386dbd883088d104978946bd7a3918acdac6c144993d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:JRBUXTOX2EIWIM6QWGZXFV72JQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antonio Franchi, Heinrich H. B\\\"ulthoff, Paolo Robuffo Giordano, Thomas Nestmeyer","submitted_at":"2015-05-20T16:13:03Z","abstract_excerpt":"This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous connectivity is guaranteed by building upon a recent connectivity maintenance method, in which limited range, line-of-sight visibility, and collision avoidance are taken into account at the same time. Completeness of the decentralized multi-target exploration algorithm is guaranteed by dynamically assigning the robots with different motion behaviors during the explora"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.05441","kind":"arxiv","version":3},"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":"2026-05-18T00:48:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cR9iF/aWUAOPOAN0OTJaa/qAYSQwouONRxSAQLRn9U4IeMwU7rtHptZwxhWD9XsvmUafsJDSVt28zTIe+1Y/AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T07:33:30.657466Z"},"content_sha256":"d2a893af1b7b608a02a747944f5e78fdb3748fa85757c06570109a82fd2ddf83","schema_version":"1.0","event_id":"sha256:d2a893af1b7b608a02a747944f5e78fdb3748fa85757c06570109a82fd2ddf83"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/bundle.json","state_url":"https://pith.science/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/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":"2026-05-31T07:33:30Z","links":{"resolver":"https://pith.science/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ","bundle":"https://pith.science/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/bundle.json","state":"https://pith.science/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JRBUXTOX2EIWIM6QWGZXFV72JQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:JRBUXTOX2EIWIM6QWGZXFV72JQ","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":"0fc4673d59f93decdbd249e5787f8459d4e37512d239b9ee3b122d4e1ff05585","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-20T16:13:03Z","title_canon_sha256":"118b888e730a1056080810e1829adb47940dc6e75d9870bbdd2cc8484eb1db4c"},"schema_version":"1.0","source":{"id":"1505.05441","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.05441","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"arxiv_version","alias_value":"1505.05441v3","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.05441","created_at":"2026-05-18T00:48:37Z"},{"alias_kind":"pith_short_12","alias_value":"JRBUXTOX2EIW","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_16","alias_value":"JRBUXTOX2EIWIM6Q","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_8","alias_value":"JRBUXTOX","created_at":"2026-05-18T12:29:27Z"}],"graph_snapshots":[{"event_id":"sha256:d2a893af1b7b608a02a747944f5e78fdb3748fa85757c06570109a82fd2ddf83","target":"graph","created_at":"2026-05-18T00:48:37Z","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":"This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous connectivity is guaranteed by building upon a recent connectivity maintenance method, in which limited range, line-of-sight visibility, and collision avoidance are taken into account at the same time. Completeness of the decentralized multi-target exploration algorithm is guaranteed by dynamically assigning the robots with different motion behaviors during the explora","authors_text":"Antonio Franchi, Heinrich H. B\\\"ulthoff, Paolo Robuffo Giordano, Thomas Nestmeyer","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-20T16:13:03Z","title":"Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.05441","kind":"arxiv","version":3},"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":"sha256:86d2e3c4592f534ecd5c386dbd883088d104978946bd7a3918acdac6c144993d","target":"record","created_at":"2026-05-18T00:48:37Z","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":"0fc4673d59f93decdbd249e5787f8459d4e37512d239b9ee3b122d4e1ff05585","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-20T16:13:03Z","title_canon_sha256":"118b888e730a1056080810e1829adb47940dc6e75d9870bbdd2cc8484eb1db4c"},"schema_version":"1.0","source":{"id":"1505.05441","kind":"arxiv","version":3}},"canonical_sha256":"4c434bcdd7d1116433d0b1b372d7fa4c2d99cbf0c6463b30d14d0609246e2fc6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4c434bcdd7d1116433d0b1b372d7fa4c2d99cbf0c6463b30d14d0609246e2fc6","first_computed_at":"2026-05-18T00:48:37.636631Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:48:37.636631Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sXexBOd3B3BgcjwH/+IyfocV1QNyosZ7XMJLPB/DQO2z08eUozy543h2P20oodl/6GoJqICal5r/JyZR2JXJAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:48:37.637329Z","signed_message":"canonical_sha256_bytes"},"source_id":"1505.05441","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:86d2e3c4592f534ecd5c386dbd883088d104978946bd7a3918acdac6c144993d","sha256:d2a893af1b7b608a02a747944f5e78fdb3748fa85757c06570109a82fd2ddf83"],"state_sha256":"8bd063885c09eb815f8b51b7838b91aa3a746f4e08385224d5c772f32ae045d0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1t+L4H9dVr+kgqDkpViFdnlKex/FQsCYpARUMsutSSPnZM9NP6+UnWKpbMjRZHtnRypCf1Lc37b+KzFdDZkCAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T07:33:30.660664Z","bundle_sha256":"1c05578a7770d23a86882996cf2ba21e60689e89798e808246c57802f0f78b87"}}