{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:MSWZHHSZM6MNJH7RHQKKTHN2WB","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":"a14d939f1ec9d449ad43e9c419e783dc7e32952daf3d42cba92cc6ff66fd6a98","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-24T16:54:53Z","title_canon_sha256":"aef37e20cd0b475dc53aa712d3394cb7879d072f327bd1b20f29b3a6ee8122be"},"schema_version":"1.0","source":{"id":"2101.09750","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2101.09750","created_at":"2026-07-05T03:28:36Z"},{"alias_kind":"arxiv_version","alias_value":"2101.09750v2","created_at":"2026-07-05T03:28:36Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2101.09750","created_at":"2026-07-05T03:28:36Z"},{"alias_kind":"pith_short_12","alias_value":"MSWZHHSZM6MN","created_at":"2026-07-05T03:28:36Z"},{"alias_kind":"pith_short_16","alias_value":"MSWZHHSZM6MNJH7R","created_at":"2026-07-05T03:28:36Z"},{"alias_kind":"pith_short_8","alias_value":"MSWZHHSZ","created_at":"2026-07-05T03:28:36Z"}],"graph_snapshots":[{"event_id":"sha256:f6956e9f514fa04676900c42142a2e7d7c2b0496830c0048ae17824cb643686c","target":"graph","created_at":"2026-07-05T03:28:36Z","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/2101.09750/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range from to enable localization as the vehicle traverses its pre-defined path through the tunnel. A key question that arises in such scenario is to estimate and reduce the number of landmarks that needs to be deployed for localization before the start of the mission, given some information about the environment. The main focus is to keep the maximum position unc","authors_text":"Kaarthik Sundar, Kevin Brink, Rajnikant Sharma, Sohum Misra","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-24T16:54:53Z","title":"Deployable, Data-Driven Unmanned Vehicle Navigation System in GPS-Denied, Feature-Deficient Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.09750","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:eb877017e6ed258900c86f0c4bbd1b0f5f2267eba78b9823eac4f6139e8d7080","target":"record","created_at":"2026-07-05T03:28:36Z","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":"a14d939f1ec9d449ad43e9c419e783dc7e32952daf3d42cba92cc6ff66fd6a98","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-01-24T16:54:53Z","title_canon_sha256":"aef37e20cd0b475dc53aa712d3394cb7879d072f327bd1b20f29b3a6ee8122be"},"schema_version":"1.0","source":{"id":"2101.09750","kind":"arxiv","version":2}},"canonical_sha256":"64ad939e596798d49ff13c14a99dbab0683157b4bd1db2c4c356fa35c642ca83","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"64ad939e596798d49ff13c14a99dbab0683157b4bd1db2c4c356fa35c642ca83","first_computed_at":"2026-07-05T03:28:36.214392Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:28:36.214392Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cAoqBBJb2auOa7KmP8bPs942nxKargeFKtiZ12TD4ZC/c4RK5qTLvqNoQIzHzHiJydSsXOxcNzg8HSt6IPBIAg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:28:36.214863Z","signed_message":"canonical_sha256_bytes"},"source_id":"2101.09750","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eb877017e6ed258900c86f0c4bbd1b0f5f2267eba78b9823eac4f6139e8d7080","sha256:f6956e9f514fa04676900c42142a2e7d7c2b0496830c0048ae17824cb643686c"],"state_sha256":"5ab1e3e18ca9e35c2f283b6a8f8e32941df0359c183de1881893872ca4b9961a"}