{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MMGID3V2DPYK3GSCKTBRZIUVNU","merge_version":"pith-open-graph-merge-v1","event_count":4,"valid_event_count":4,"invalid_event_count":0,"equivocation_count":1,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"57a4e7aa9f879da989d83ae5cbba80060e94ff22966813afc03b84fb7600bf6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NI","submitted_at":"2026-05-22T12:18:26Z","title_canon_sha256":"2493dea1c9363fc524d662982733828036334fa55bdc399c200044a8895764f4"},"schema_version":"1.0","source":{"id":"2605.23553","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.23553","created_at":"2026-05-25T02:02:00Z"},{"alias_kind":"arxiv_version","alias_value":"2605.23553v1","created_at":"2026-05-25T02:02:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.23553","created_at":"2026-05-25T02:02:00Z"},{"alias_kind":"pith_short_12","alias_value":"MMGID3V2DPYK","created_at":"2026-05-25T02:02:00Z"},{"alias_kind":"pith_short_16","alias_value":"MMGID3V2DPYK3GSC","created_at":"2026-05-25T02:02:00Z"},{"alias_kind":"pith_short_8","alias_value":"MMGID3V2","created_at":"2026-05-25T02:02:00Z"}],"graph_snapshots":[{"event_id":"sha256:2649e3bb5347d5ffcb6412e11a4d937e001c9e02226b667e2a3914b027efd4bb","target":"graph","created_at":"2026-05-25T02:02:00Z","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/2605.23553/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a modular software architecture that enables environmental-aware coordination of heterogeneous Autonomous Underwater Vehicles (AUVs) to improve underwater acoustic connectivity. The architecture combines a Robot Operating System 2 application layer with the DESERT Underwater communication framework through the rmw_desert middleware, and integrates a Robot Operating System 1 bridge to ensure interoperability with legacy vehicle front-seat controllers. This design enables fine-grained, cross-layer configurability of the communication stack and supports onboard processing of e","authors_text":"Andrea Caiti, Davide Cosimo, Davide Costa, Filippo Campagnaro, Michele Zorzi, Riccardo Costanzi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NI","submitted_at":"2026-05-22T12:18:26Z","title":"Sea Trial Validation of the ROS-DESERT Middleware with Autonomous Underwater Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23553","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:a4a63d080334c506743321b6b96c11ed5ba8a75cb586b6ec56666f1261637b3d","target":"record","created_at":"2026-05-25T02:02:00Z","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":"57a4e7aa9f879da989d83ae5cbba80060e94ff22966813afc03b84fb7600bf6c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.NI","submitted_at":"2026-05-22T12:18:26Z","title_canon_sha256":"2493dea1c9363fc524d662982733828036334fa55bdc399c200044a8895764f4"},"schema_version":"1.0","source":{"id":"2605.23553","kind":"arxiv","version":1}},"canonical_sha256":"630c81eeba1bf0ad9a4254c31ca2956d26d5c77f1549ff8533dbeaa5d5e29e89","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"630c81eeba1bf0ad9a4254c31ca2956d26d5c77f1549ff8533dbeaa5d5e29e89","first_computed_at":"2026-05-25T02:02:00.635526Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-25T02:02:00.635526Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YSyFe9I7ZY6saPGCXV5rMSm6S4qgdmLkmvUT43NBsMF1lRBQhyFiKMLUIW9Gv+z3vNX6f1BTflSJwdICFQFoCg==","signature_status":"signed_v1","signed_at":"2026-05-25T02:02:00.636113Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.23553","source_kind":"arxiv","source_version":1}}},"equivocations":[{"signer_id":"pith.science","event_type":"integrity_finding","target":"integrity","event_ids":["sha256:13412198a698941614131cfbf627a3b93582f6b1fc9b4453657481005cc86067","sha256:bbbc269092006f294869fb858d67c7aaf8d66965aebbb51c7aba9a335557787a"]}],"invalid_events":[],"applied_event_ids":["sha256:a4a63d080334c506743321b6b96c11ed5ba8a75cb586b6ec56666f1261637b3d","sha256:2649e3bb5347d5ffcb6412e11a4d937e001c9e02226b667e2a3914b027efd4bb"],"state_sha256":"e0c796ad3f0013264ea3c7f5b5a6c11053203401c8c86e5260c64c95a16f41ba"}