{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:N7PECL6HHRZUQAWTNTHART5I3H","short_pith_number":"pith:N7PECL6H","canonical_record":{"source":{"id":"1706.03842","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-12T20:32:02Z","cross_cats_sorted":["stat.AP"],"title_canon_sha256":"f62a2af8f7a0782cdf45ee595f1f50dc3786560a5ed1825655aee5d26d724ca4","abstract_canon_sha256":"6956d8399f980f4e7765f241a59af1d5b4a589c8d0d26d454681f3b00483fefd"},"schema_version":"1.0"},"canonical_sha256":"6fde412fc73c734802d36cce08cfa8d9f866d9aa8ced0e33f8f6ec83cccde91b","source":{"kind":"arxiv","id":"1706.03842","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.03842","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"arxiv_version","alias_value":"1706.03842v1","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.03842","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"pith_short_12","alias_value":"N7PECL6HHRZU","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_16","alias_value":"N7PECL6HHRZUQAWT","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_8","alias_value":"N7PECL6H","created_at":"2026-05-18T12:31:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:N7PECL6HHRZUQAWTNTHART5I3H","target":"record","payload":{"canonical_record":{"source":{"id":"1706.03842","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-12T20:32:02Z","cross_cats_sorted":["stat.AP"],"title_canon_sha256":"f62a2af8f7a0782cdf45ee595f1f50dc3786560a5ed1825655aee5d26d724ca4","abstract_canon_sha256":"6956d8399f980f4e7765f241a59af1d5b4a589c8d0d26d454681f3b00483fefd"},"schema_version":"1.0"},"canonical_sha256":"6fde412fc73c734802d36cce08cfa8d9f866d9aa8ced0e33f8f6ec83cccde91b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:42:28.212326Z","signature_b64":"1f7v/DKQ27fG5cmtd1oLEwQE7diqbz4W2PWpAt+n5lwCRaq1rDPFLNwBlpNcwwgAlm2Tyjr/waBDO8vl6tS1DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6fde412fc73c734802d36cce08cfa8d9f866d9aa8ced0e33f8f6ec83cccde91b","last_reissued_at":"2026-05-18T00:42:28.211806Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:42:28.211806Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1706.03842","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:42:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OOBjTpP0QueOXJ2kZuhUv4hdWh3e43pGnjK7QwSlR+7EatdLRVQYBUEOiGQJ4sOUEM8bUOSQxyhegcPE6EhSAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T18:55:57.234159Z"},"content_sha256":"10fc5ceac17e8bdfdd6d3fd542f23449ad8c9bcfc663838b8876e5bed45adc94","schema_version":"1.0","event_id":"sha256:10fc5ceac17e8bdfdd6d3fd542f23449ad8c9bcfc663838b8876e5bed45adc94"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:N7PECL6HHRZUQAWTNTHART5I3H","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Approximate Structure Construction Using Large Statistical Swarms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["stat.AP"],"primary_cat":"cs.RO","authors_text":"Subhrajit Bhattacharya","submitted_at":"2017-06-12T20:32:02Z","abstract_excerpt":"In this paper we describe a novel local algorithm for large statistical swarms using \"harmonic attractor dynamics\", by means of which a swarm can construct harmonics of the environment. This in turn allows the swarm to approximately reconstruct desired structures in the environment. The robots navigate in a discrete environment, completely free of localization, being able to communicate with other robots in its own discrete cell only, and being able to sense or take reliable action within a disk of radius $r$ around itself. We present the mathematics that underlie such dynamics and present ini"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.03842","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:42:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TqeSPgbxmlRT7EzqFBSz0hrnigmoYwpCiWOo6dMd5bAhGLAJjg6/vDtPJKdZ0ZzWQaBny8KmmKbaRpHeMqcFAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T18:55:57.234668Z"},"content_sha256":"9a1cdda4771668dda32fb1c9c92b1cb436cb6ad8b5a79e12188506133f6f944f","schema_version":"1.0","event_id":"sha256:9a1cdda4771668dda32fb1c9c92b1cb436cb6ad8b5a79e12188506133f6f944f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N7PECL6HHRZUQAWTNTHART5I3H/bundle.json","state_url":"https://pith.science/pith/N7PECL6HHRZUQAWTNTHART5I3H/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N7PECL6HHRZUQAWTNTHART5I3H/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":"2026-05-26T18:55:57Z","links":{"resolver":"https://pith.science/pith/N7PECL6HHRZUQAWTNTHART5I3H","bundle":"https://pith.science/pith/N7PECL6HHRZUQAWTNTHART5I3H/bundle.json","state":"https://pith.science/pith/N7PECL6HHRZUQAWTNTHART5I3H/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N7PECL6HHRZUQAWTNTHART5I3H/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:N7PECL6HHRZUQAWTNTHART5I3H","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":"6956d8399f980f4e7765f241a59af1d5b4a589c8d0d26d454681f3b00483fefd","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-12T20:32:02Z","title_canon_sha256":"f62a2af8f7a0782cdf45ee595f1f50dc3786560a5ed1825655aee5d26d724ca4"},"schema_version":"1.0","source":{"id":"1706.03842","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.03842","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"arxiv_version","alias_value":"1706.03842v1","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.03842","created_at":"2026-05-18T00:42:28Z"},{"alias_kind":"pith_short_12","alias_value":"N7PECL6HHRZU","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_16","alias_value":"N7PECL6HHRZUQAWT","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_8","alias_value":"N7PECL6H","created_at":"2026-05-18T12:31:31Z"}],"graph_snapshots":[{"event_id":"sha256:9a1cdda4771668dda32fb1c9c92b1cb436cb6ad8b5a79e12188506133f6f944f","target":"graph","created_at":"2026-05-18T00:42:28Z","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"},"paper":{"abstract_excerpt":"In this paper we describe a novel local algorithm for large statistical swarms using \"harmonic attractor dynamics\", by means of which a swarm can construct harmonics of the environment. This in turn allows the swarm to approximately reconstruct desired structures in the environment. The robots navigate in a discrete environment, completely free of localization, being able to communicate with other robots in its own discrete cell only, and being able to sense or take reliable action within a disk of radius $r$ around itself. We present the mathematics that underlie such dynamics and present ini","authors_text":"Subhrajit Bhattacharya","cross_cats":["stat.AP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-12T20:32:02Z","title":"Approximate Structure Construction Using Large Statistical Swarms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.03842","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":"sha256:10fc5ceac17e8bdfdd6d3fd542f23449ad8c9bcfc663838b8876e5bed45adc94","target":"record","created_at":"2026-05-18T00:42:28Z","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":"6956d8399f980f4e7765f241a59af1d5b4a589c8d0d26d454681f3b00483fefd","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-12T20:32:02Z","title_canon_sha256":"f62a2af8f7a0782cdf45ee595f1f50dc3786560a5ed1825655aee5d26d724ca4"},"schema_version":"1.0","source":{"id":"1706.03842","kind":"arxiv","version":1}},"canonical_sha256":"6fde412fc73c734802d36cce08cfa8d9f866d9aa8ced0e33f8f6ec83cccde91b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6fde412fc73c734802d36cce08cfa8d9f866d9aa8ced0e33f8f6ec83cccde91b","first_computed_at":"2026-05-18T00:42:28.211806Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:42:28.211806Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1f7v/DKQ27fG5cmtd1oLEwQE7diqbz4W2PWpAt+n5lwCRaq1rDPFLNwBlpNcwwgAlm2Tyjr/waBDO8vl6tS1DA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:42:28.212326Z","signed_message":"canonical_sha256_bytes"},"source_id":"1706.03842","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:10fc5ceac17e8bdfdd6d3fd542f23449ad8c9bcfc663838b8876e5bed45adc94","sha256:9a1cdda4771668dda32fb1c9c92b1cb436cb6ad8b5a79e12188506133f6f944f"],"state_sha256":"987b5623ebb1a95a2ded1fd56bf90aebb99be37b0fca17b84e63d8cbad3f80eb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mA9+314XtcC1VQdArdJ+1SR6s1iH29qZr/nEmHMmsnk+crPBaQIZkTApXzBSEzDm9akhS0HCFT+Ch16In5XrBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T18:55:57.237889Z","bundle_sha256":"c99a0c0421292ab0d5cfee2acdc207f1a63dc85312657d4bd5747886529646a6"}}