{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:M5I2SDE4LOUSXCO3JJIJZ4GYF4","short_pith_number":"pith:M5I2SDE4","canonical_record":{"source":{"id":"2409.12713","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T05:28:12Z","cross_cats_sorted":[],"title_canon_sha256":"657e3f763c17a67543bc3116cfe7876ed11b9b07852865543b2c508ce0b86bfd","abstract_canon_sha256":"856ab72e26249bdb3d2e9e71a71502486bc971a4e419d335a75fa4e93469e3a3"},"schema_version":"1.0"},"canonical_sha256":"6751a90c9c5ba92b89db4a509cf0d82f319ba9a5eb5f1f8dbf4ac2892f6c03e4","source":{"kind":"arxiv","id":"2409.12713","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.12713","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"arxiv_version","alias_value":"2409.12713v2","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.12713","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_12","alias_value":"M5I2SDE4LOUS","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_16","alias_value":"M5I2SDE4LOUSXCO3","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_8","alias_value":"M5I2SDE4","created_at":"2026-07-05T10:01:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:M5I2SDE4LOUSXCO3JJIJZ4GYF4","target":"record","payload":{"canonical_record":{"source":{"id":"2409.12713","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T05:28:12Z","cross_cats_sorted":[],"title_canon_sha256":"657e3f763c17a67543bc3116cfe7876ed11b9b07852865543b2c508ce0b86bfd","abstract_canon_sha256":"856ab72e26249bdb3d2e9e71a71502486bc971a4e419d335a75fa4e93469e3a3"},"schema_version":"1.0"},"canonical_sha256":"6751a90c9c5ba92b89db4a509cf0d82f319ba9a5eb5f1f8dbf4ac2892f6c03e4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:01:00.855174Z","signature_b64":"m1W7qUJ/9ReQHBpYD+jkq6v/Jo4MrO7+YvXYWuipzkbDO4NWSbuiGv3Yzg4/hylln4hmKcyrML0CGBnTswikDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6751a90c9c5ba92b89db4a509cf0d82f319ba9a5eb5f1f8dbf4ac2892f6c03e4","last_reissued_at":"2026-07-05T10:01:00.854728Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:01:00.854728Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2409.12713","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:01:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rsRnrMFOm3iDHUF7lcur5gUteT1WA61RQXIurCd7F/2YMdvY9CN8y0VvB3gZFDZyp9+KVCkR7tARlBos3aHNDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T15:29:27.214737Z"},"content_sha256":"fe882a858d290561373b1b3663e3475ab4f125d83b2fa6d95f92f4fa863207e4","schema_version":"1.0","event_id":"sha256:fe882a858d290561373b1b3663e3475ab4f125d83b2fa6d95f92f4fa863207e4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:M5I2SDE4LOUSXCO3JJIJZ4GYF4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alvaro Caballero, Davide Liuzza, Giuseppe Silano, Luigi Iannelli, Martin Saska, Stjepan Bogdan","submitted_at":"2024-09-18T05:28:12Z","abstract_excerpt":"The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.12713","kind":"arxiv","version":2},"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/2409.12713/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":"2026-07-05T10:01:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MfRV1DPusP87yFTbxvNC27HgKm3OzDZnt02UZapZJRodc7exC3n3r2I+dsAx2Rkdzw/kkIrF9JZKlgqUcyQ6Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T15:29:27.216031Z"},"content_sha256":"8725d9452d081560c947fd45ca400b3a77e4e833d6a9305368f317561b61b912","schema_version":"1.0","event_id":"sha256:8725d9452d081560c947fd45ca400b3a77e4e833d6a9305368f317561b61b912"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/bundle.json","state_url":"https://pith.science/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/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":"2026-08-20T15:29:27Z","links":{"resolver":"https://pith.science/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4","bundle":"https://pith.science/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/bundle.json","state":"https://pith.science/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/M5I2SDE4LOUSXCO3JJIJZ4GYF4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:M5I2SDE4LOUSXCO3JJIJZ4GYF4","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":"856ab72e26249bdb3d2e9e71a71502486bc971a4e419d335a75fa4e93469e3a3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T05:28:12Z","title_canon_sha256":"657e3f763c17a67543bc3116cfe7876ed11b9b07852865543b2c508ce0b86bfd"},"schema_version":"1.0","source":{"id":"2409.12713","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.12713","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"arxiv_version","alias_value":"2409.12713v2","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.12713","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_12","alias_value":"M5I2SDE4LOUS","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_16","alias_value":"M5I2SDE4LOUSXCO3","created_at":"2026-07-05T10:01:00Z"},{"alias_kind":"pith_short_8","alias_value":"M5I2SDE4","created_at":"2026-07-05T10:01:00Z"}],"graph_snapshots":[{"event_id":"sha256:8725d9452d081560c947fd45ca400b3a77e4e833d6a9305368f317561b61b912","target":"graph","created_at":"2026-07-05T10:01:00Z","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/2409.12713/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe and feasible trajectories while accommodating heterogeneous time-bound constraints and vehicle physical limits. An optimization problem is formulated to meet mission objectives and temporal requirements encoded as Signal Temporal Logic (STL) specifications. Additionally, an event-triggered replanner is introduced to address unforeseen events and compensate for lost time. Furthermor","authors_text":"Alvaro Caballero, Davide Liuzza, Giuseppe Silano, Luigi Iannelli, Martin Saska, Stjepan Bogdan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T05:28:12Z","title":"A Signal Temporal Logic Approach for Task-Based Coordination of Multi-Aerial Systems: a Wind Turbine Inspection Case Study"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.12713","kind":"arxiv","version":2},"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:fe882a858d290561373b1b3663e3475ab4f125d83b2fa6d95f92f4fa863207e4","target":"record","created_at":"2026-07-05T10:01:00Z","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":"856ab72e26249bdb3d2e9e71a71502486bc971a4e419d335a75fa4e93469e3a3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-09-18T05:28:12Z","title_canon_sha256":"657e3f763c17a67543bc3116cfe7876ed11b9b07852865543b2c508ce0b86bfd"},"schema_version":"1.0","source":{"id":"2409.12713","kind":"arxiv","version":2}},"canonical_sha256":"6751a90c9c5ba92b89db4a509cf0d82f319ba9a5eb5f1f8dbf4ac2892f6c03e4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6751a90c9c5ba92b89db4a509cf0d82f319ba9a5eb5f1f8dbf4ac2892f6c03e4","first_computed_at":"2026-07-05T10:01:00.854728Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:01:00.854728Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"m1W7qUJ/9ReQHBpYD+jkq6v/Jo4MrO7+YvXYWuipzkbDO4NWSbuiGv3Yzg4/hylln4hmKcyrML0CGBnTswikDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:01:00.855174Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.12713","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe882a858d290561373b1b3663e3475ab4f125d83b2fa6d95f92f4fa863207e4","sha256:8725d9452d081560c947fd45ca400b3a77e4e833d6a9305368f317561b61b912"],"state_sha256":"4de0f6625e06998e7a0e1da9336acb65773cdba7ab1ec2fd6b8c16009ade7f98"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q6BO8p2YgKlXeqFWlgMIvhvotJOfjGI5aFOuRv728zAAfcuwYWNe9MkD511+7wydpq3PNygaCbkb7rUApkLjCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T15:29:27.224989Z","bundle_sha256":"124daa08b805f0219a435261758e8c5f7ed5a9b13a4037f7c96cf5cb05834296"}}