{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:LTYLB4MUS2BAQA54JE5EO5HBZ3","short_pith_number":"pith:LTYLB4MU","schema_version":"1.0","canonical_sha256":"5cf0b0f19496820803bc493a4774e1ceddc400a66c53f6f4369dafbd97dd2984","source":{"kind":"arxiv","id":"1903.05392","version":1},"attestation_state":"computed","paper":{"title":"Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ragesh K. Ramachandran, Spring Berman","submitted_at":"2019-03-13T10:18:46Z","abstract_excerpt":"In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during random exploration of the domain by combining onboard odometry information with noisy measurements of signals received from transmitters located outside the domain. This data is processed offline to compute a density function of the free space over a discretization of the domain. We use persistent homology techniques from topological data analysis to estimate a"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1903.05392","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-13T10:18:46Z","cross_cats_sorted":[],"title_canon_sha256":"a8403a531c35fd1ad97e99b91065c81d7b94768a73a5fb4ac08ea48c2fb16c48","abstract_canon_sha256":"bbce3e7e1bab3f21c7f197d7a3e4a4055b58ff60ec275674d4370887f4cba7ff"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:51:24.413473Z","signature_b64":"UR2KypcjjXHaeUqrZbxjWBGRyHT4ZGzwTVz+eKBtWhPTv8+6gAZO/l5RZhFCM5Z2aevp2j0SneRkEE1gs2r/Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5cf0b0f19496820803bc493a4774e1ceddc400a66c53f6f4369dafbd97dd2984","last_reissued_at":"2026-05-17T23:51:24.412883Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:51:24.412883Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ragesh K. Ramachandran, Spring Berman","submitted_at":"2019-03-13T10:18:46Z","abstract_excerpt":"In this work, we present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots. The robots obtain this data during random exploration of the domain by combining onboard odometry information with noisy measurements of signals received from transmitters located outside the domain. This data is processed offline to compute a density function of the free space over a discretization of the domain. We use persistent homology techniques from topological data analysis to estimate a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.05392","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1903.05392","created_at":"2026-05-17T23:51:24.412987+00:00"},{"alias_kind":"arxiv_version","alias_value":"1903.05392v1","created_at":"2026-05-17T23:51:24.412987+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.05392","created_at":"2026-05-17T23:51:24.412987+00:00"},{"alias_kind":"pith_short_12","alias_value":"LTYLB4MUS2BA","created_at":"2026-05-18T12:33:21.387695+00:00"},{"alias_kind":"pith_short_16","alias_value":"LTYLB4MUS2BAQA54","created_at":"2026-05-18T12:33:21.387695+00:00"},{"alias_kind":"pith_short_8","alias_value":"LTYLB4MU","created_at":"2026-05-18T12:33:21.387695+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3","json":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3.json","graph_json":"https://pith.science/api/pith-number/LTYLB4MUS2BAQA54JE5EO5HBZ3/graph.json","events_json":"https://pith.science/api/pith-number/LTYLB4MUS2BAQA54JE5EO5HBZ3/events.json","paper":"https://pith.science/paper/LTYLB4MU"},"agent_actions":{"view_html":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3","download_json":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3.json","view_paper":"https://pith.science/paper/LTYLB4MU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1903.05392&json=true","fetch_graph":"https://pith.science/api/pith-number/LTYLB4MUS2BAQA54JE5EO5HBZ3/graph.json","fetch_events":"https://pith.science/api/pith-number/LTYLB4MUS2BAQA54JE5EO5HBZ3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3/action/storage_attestation","attest_author":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3/action/author_attestation","sign_citation":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3/action/citation_signature","submit_replication":"https://pith.science/pith/LTYLB4MUS2BAQA54JE5EO5HBZ3/action/replication_record"}},"created_at":"2026-05-17T23:51:24.412987+00:00","updated_at":"2026-05-17T23:51:24.412987+00:00"}