{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:N7QI3KQ7KLKKFKVJ2NS2LAB5VI","short_pith_number":"pith:N7QI3KQ7","canonical_record":{"source":{"id":"1505.05908","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-21T21:31:34Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5e307f84a8191ee9ce2654f22e69f246ea7b06c880704f0b1dccc76fb9e7ee19","abstract_canon_sha256":"8913e7c277faaca1e49b6c17f4861147df5b2505e407971c9949cf6183453ba8"},"schema_version":"1.0"},"canonical_sha256":"6fe08daa1f52d4a2aaa9d365a5803daa150f54b35619298ceff9db05c2a2c07f","source":{"kind":"arxiv","id":"1505.05908","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.05908","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"arxiv_version","alias_value":"1505.05908v3","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.05908","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"pith_short_12","alias_value":"N7QI3KQ7KLKK","created_at":"2026-05-18T12:29:32Z"},{"alias_kind":"pith_short_16","alias_value":"N7QI3KQ7KLKKFKVJ","created_at":"2026-05-18T12:29:32Z"},{"alias_kind":"pith_short_8","alias_value":"N7QI3KQ7","created_at":"2026-05-18T12:29:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:N7QI3KQ7KLKKFKVJ2NS2LAB5VI","target":"record","payload":{"canonical_record":{"source":{"id":"1505.05908","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-21T21:31:34Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5e307f84a8191ee9ce2654f22e69f246ea7b06c880704f0b1dccc76fb9e7ee19","abstract_canon_sha256":"8913e7c277faaca1e49b6c17f4861147df5b2505e407971c9949cf6183453ba8"},"schema_version":"1.0"},"canonical_sha256":"6fe08daa1f52d4a2aaa9d365a5803daa150f54b35619298ceff9db05c2a2c07f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:31:10.908118Z","signature_b64":"oySmHbt9zlQ5oYc+AbCfoMELycwbZOiaK52TWKxPQJN6GS68wuYTr4CpT3IkRMKCnM11uADfqwZaH4myNpETBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6fe08daa1f52d4a2aaa9d365a5803daa150f54b35619298ceff9db05c2a2c07f","last_reissued_at":"2026-05-18T01:31:10.907620Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:31:10.907620Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1505.05908","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:31:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ytf8mfoao007J/mrQ9a2Oz1+mjpRr06lpatqadhOCRFIcGMP3+BfKGpRI6BYhHAcAZPAEDA6ztpooBshARt1Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T01:17:09.958092Z"},"content_sha256":"8b0bda57f6e910050b127caafbb6180de018c6d1824342222dcd046472ef323d","schema_version":"1.0","event_id":"sha256:8b0bda57f6e910050b127caafbb6180de018c6d1824342222dcd046472ef323d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:N7QI3KQ7KLKKFKVJ2NS2LAB5VI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Solmaz S. Kia, Sonia Martinez, Stephen Rounds","submitted_at":"2015-05-21T21:31:34Z","abstract_excerpt":"We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent prop"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.05908","kind":"arxiv","version":3},"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":"2026-05-18T01:31:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GwYmuD0Wutk9QtzaF7xT46hWwoDLszrz0+A8TI8EbT2xgiUShuiqcMRplVeRZr6m2F+vxI/kB3nhRFfdyhX0DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T01:17:09.958456Z"},"content_sha256":"f472813bae436373ff616d39fba513c49fdbe9074affc6f7c5966b0f75a772e0","schema_version":"1.0","event_id":"sha256:f472813bae436373ff616d39fba513c49fdbe9074affc6f7c5966b0f75a772e0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/bundle.json","state_url":"https://pith.science/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/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":"2026-06-03T01:17:09Z","links":{"resolver":"https://pith.science/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI","bundle":"https://pith.science/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/bundle.json","state":"https://pith.science/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N7QI3KQ7KLKKFKVJ2NS2LAB5VI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:N7QI3KQ7KLKKFKVJ2NS2LAB5VI","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":"8913e7c277faaca1e49b6c17f4861147df5b2505e407971c9949cf6183453ba8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-21T21:31:34Z","title_canon_sha256":"5e307f84a8191ee9ce2654f22e69f246ea7b06c880704f0b1dccc76fb9e7ee19"},"schema_version":"1.0","source":{"id":"1505.05908","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1505.05908","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"arxiv_version","alias_value":"1505.05908v3","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1505.05908","created_at":"2026-05-18T01:31:10Z"},{"alias_kind":"pith_short_12","alias_value":"N7QI3KQ7KLKK","created_at":"2026-05-18T12:29:32Z"},{"alias_kind":"pith_short_16","alias_value":"N7QI3KQ7KLKKFKVJ","created_at":"2026-05-18T12:29:32Z"},{"alias_kind":"pith_short_8","alias_value":"N7QI3KQ7","created_at":"2026-05-18T12:29:32Z"}],"graph_snapshots":[{"event_id":"sha256:f472813bae436373ff616d39fba513c49fdbe9074affc6f7c5966b0f75a772e0","target":"graph","created_at":"2026-05-18T01:31:10Z","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":"We consider cooperative localization technique for mobile agents with communication and computation capabilities. We start by provide and overview of different decentralization strategies in the literature, with special focus on how these algorithms maintain an account of intrinsic correlations between state estimate of team members. Then, we present a novel decentralized cooperative localization algorithm that is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each agent prop","authors_text":"Solmaz S. Kia, Sonia Martinez, Stephen Rounds","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-21T21:31:34Z","title":"Cooperative localization for mobile agents: a recursive decentralized algorithm based on Kalman filter decoupling"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1505.05908","kind":"arxiv","version":3},"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":"sha256:8b0bda57f6e910050b127caafbb6180de018c6d1824342222dcd046472ef323d","target":"record","created_at":"2026-05-18T01:31:10Z","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":"8913e7c277faaca1e49b6c17f4861147df5b2505e407971c9949cf6183453ba8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-05-21T21:31:34Z","title_canon_sha256":"5e307f84a8191ee9ce2654f22e69f246ea7b06c880704f0b1dccc76fb9e7ee19"},"schema_version":"1.0","source":{"id":"1505.05908","kind":"arxiv","version":3}},"canonical_sha256":"6fe08daa1f52d4a2aaa9d365a5803daa150f54b35619298ceff9db05c2a2c07f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6fe08daa1f52d4a2aaa9d365a5803daa150f54b35619298ceff9db05c2a2c07f","first_computed_at":"2026-05-18T01:31:10.907620Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:31:10.907620Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oySmHbt9zlQ5oYc+AbCfoMELycwbZOiaK52TWKxPQJN6GS68wuYTr4CpT3IkRMKCnM11uADfqwZaH4myNpETBw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:31:10.908118Z","signed_message":"canonical_sha256_bytes"},"source_id":"1505.05908","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8b0bda57f6e910050b127caafbb6180de018c6d1824342222dcd046472ef323d","sha256:f472813bae436373ff616d39fba513c49fdbe9074affc6f7c5966b0f75a772e0"],"state_sha256":"4badb29f1a58e2914ffdd0575eaf60f0086d0a567d06ab17e636d9bd879739c6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fg8hX/ckCle52NvrnvfQfJzkl6OzR+ANMk2D3zbUk4VRlxDqYcINtMhcUHXunmx2CZOzwmKSOeTlOSBs5o3OAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T01:17:09.960454Z","bundle_sha256":"4014bb867c51f8a4e5d773f8b5860ee44a7b6c96fde08ebad066ae4dde99edd6"}}