{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:KXTOPCQ3H2OPKZMKB4G2BXD3RB","short_pith_number":"pith:KXTOPCQ3","canonical_record":{"source":{"id":"2103.04131","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-06T15:00:21Z","cross_cats_sorted":[],"title_canon_sha256":"036b6f5d82d6b72867d56fe808fa47e5062e7c189dbea757387079bc0ff17fd9","abstract_canon_sha256":"7c729ed67d7d5be4f98709029d62656fd96b21ea55c87f440b8aef77dbdfec4e"},"schema_version":"1.0"},"canonical_sha256":"55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1","source":{"kind":"arxiv","id":"2103.04131","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.04131","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"arxiv_version","alias_value":"2103.04131v5","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.04131","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_12","alias_value":"KXTOPCQ3H2OP","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_16","alias_value":"KXTOPCQ3H2OPKZMK","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_8","alias_value":"KXTOPCQ3","created_at":"2026-07-05T04:56:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:KXTOPCQ3H2OPKZMKB4G2BXD3RB","target":"record","payload":{"canonical_record":{"source":{"id":"2103.04131","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-06T15:00:21Z","cross_cats_sorted":[],"title_canon_sha256":"036b6f5d82d6b72867d56fe808fa47e5062e7c189dbea757387079bc0ff17fd9","abstract_canon_sha256":"7c729ed67d7d5be4f98709029d62656fd96b21ea55c87f440b8aef77dbdfec4e"},"schema_version":"1.0"},"canonical_sha256":"55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:56:10.415828Z","signature_b64":"9T0+lYe5Rlq8+bzuV9cmVKhlRTCCgUdkJhFfSIh/2VDXIvwPLyfN5xWTVQbvF9RoqJ9aR/EapcnWch4XW1dFAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1","last_reissued_at":"2026-07-05T04:56:10.415368Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:56:10.415368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.04131","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:56:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pspG4dzgBt1xDVI218r5mP0yPC7WIucvOhD5epw+sq4X0acLq1XAdzYL5dF5oUFkQyze135Yg5UckYSjVQ2CDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T13:25:35.162163Z"},"content_sha256":"223ac63dbd9f8589df776311ed12015cf225db0efb4a4200363031ca3ac2179e","schema_version":"1.0","event_id":"sha256:223ac63dbd9f8589df776311ed12015cf225db0efb4a4200363031ca3ac2179e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:KXTOPCQ3H2OPKZMKB4G2BXD3RB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyu Zhou, Guotao Meng, Hao Xu, Luqi Wang, Shaojie Shen, Xinjie Yao, Yichen Zhang","submitted_at":"2021-03-06T15:00:21Z","abstract_excerpt":"Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms, is proposed in this paper to address this research niche. To solve the issues of observability, complicated initialization, insufficient accuracy, and lack of global consistency, we introduce an omnidirectional perception front-end in Omni-swarm. It consists of stereo wide-FoV cameras and ultra-wideband se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.04131","kind":"arxiv","version":5},"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/2103.04131/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":"2026-07-05T04:56:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BdcbiSiVwYqUMNjNeSbRa0bZWUyXvWoCzbk0PEvpWNkeoUGmpptHnNaGTYuW+ngUkYKx4fhqRVPq7vYTz/9CDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T13:25:35.162546Z"},"content_sha256":"e9dcfb9ba118629b1b021eea0f20c7a6541f57b4b9ab1e0de8a7aeb344d3f343","schema_version":"1.0","event_id":"sha256:e9dcfb9ba118629b1b021eea0f20c7a6541f57b4b9ab1e0de8a7aeb344d3f343"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/bundle.json","state_url":"https://pith.science/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/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":"2026-07-07T13:25:35Z","links":{"resolver":"https://pith.science/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB","bundle":"https://pith.science/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/bundle.json","state":"https://pith.science/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KXTOPCQ3H2OPKZMKB4G2BXD3RB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:KXTOPCQ3H2OPKZMKB4G2BXD3RB","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":"7c729ed67d7d5be4f98709029d62656fd96b21ea55c87f440b8aef77dbdfec4e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-06T15:00:21Z","title_canon_sha256":"036b6f5d82d6b72867d56fe808fa47e5062e7c189dbea757387079bc0ff17fd9"},"schema_version":"1.0","source":{"id":"2103.04131","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.04131","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"arxiv_version","alias_value":"2103.04131v5","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.04131","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_12","alias_value":"KXTOPCQ3H2OP","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_16","alias_value":"KXTOPCQ3H2OPKZMK","created_at":"2026-07-05T04:56:10Z"},{"alias_kind":"pith_short_8","alias_value":"KXTOPCQ3","created_at":"2026-07-05T04:56:10Z"}],"graph_snapshots":[{"event_id":"sha256:e9dcfb9ba118629b1b021eea0f20c7a6541f57b4b9ab1e0de8a7aeb344d3f343","target":"graph","created_at":"2026-07-05T04:56:10Z","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/2103.04131/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms, is proposed in this paper to address this research niche. To solve the issues of observability, complicated initialization, insufficient accuracy, and lack of global consistency, we introduce an omnidirectional perception front-end in Omni-swarm. It consists of stereo wide-FoV cameras and ultra-wideband se","authors_text":"Boyu Zhou, Guotao Meng, Hao Xu, Luqi Wang, Shaojie Shen, Xinjie Yao, Yichen Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-06T15:00:21Z","title":"Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.04131","kind":"arxiv","version":5},"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":"sha256:223ac63dbd9f8589df776311ed12015cf225db0efb4a4200363031ca3ac2179e","target":"record","created_at":"2026-07-05T04:56:10Z","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":"7c729ed67d7d5be4f98709029d62656fd96b21ea55c87f440b8aef77dbdfec4e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-06T15:00:21Z","title_canon_sha256":"036b6f5d82d6b72867d56fe808fa47e5062e7c189dbea757387079bc0ff17fd9"},"schema_version":"1.0","source":{"id":"2103.04131","kind":"arxiv","version":5}},"canonical_sha256":"55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1","first_computed_at":"2026-07-05T04:56:10.415368Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:56:10.415368Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9T0+lYe5Rlq8+bzuV9cmVKhlRTCCgUdkJhFfSIh/2VDXIvwPLyfN5xWTVQbvF9RoqJ9aR/EapcnWch4XW1dFAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:56:10.415828Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.04131","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:223ac63dbd9f8589df776311ed12015cf225db0efb4a4200363031ca3ac2179e","sha256:e9dcfb9ba118629b1b021eea0f20c7a6541f57b4b9ab1e0de8a7aeb344d3f343"],"state_sha256":"1f2d591adb6014cf5c35de4c37fc433275323a4c51e18aa17e558d8dc7b70d9d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w1PPhQZCNTgRok8GhSbb5/gjPppv3KTR5IQV1izMpjdgZ4RX+rwMgW8/2eC9cSEiRNNSoKy/7P+3DdxH9RlMDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T13:25:35.164407Z","bundle_sha256":"43a1600347e310358797ee62b032e0a1c94a12f3fd72443b55596244c83c8ca9"}}