{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:OECHNH3A3UXYOHOOCCK4BZGXB6","short_pith_number":"pith:OECHNH3A","canonical_record":{"source":{"id":"2508.16460","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-22T15:20:54Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"7cba58eee6a121e8672d9107eaf5b5a0fa27700cc385e84f46f42313e837c908","abstract_canon_sha256":"cda0d94a79c8ebc602b0902a24a613a1e8b26ff3d835a68c4767e0fe70efd541"},"schema_version":"1.0"},"canonical_sha256":"7104769f60dd2f871dce1095c0e4d70f9022b08f5679802ec542b4e967adcff4","source":{"kind":"arxiv","id":"2508.16460","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.16460","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"arxiv_version","alias_value":"2508.16460v1","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.16460","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_12","alias_value":"OECHNH3A3UXY","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_16","alias_value":"OECHNH3A3UXYOHOO","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_8","alias_value":"OECHNH3A","created_at":"2026-07-05T11:57:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:OECHNH3A3UXYOHOOCCK4BZGXB6","target":"record","payload":{"canonical_record":{"source":{"id":"2508.16460","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-22T15:20:54Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"7cba58eee6a121e8672d9107eaf5b5a0fa27700cc385e84f46f42313e837c908","abstract_canon_sha256":"cda0d94a79c8ebc602b0902a24a613a1e8b26ff3d835a68c4767e0fe70efd541"},"schema_version":"1.0"},"canonical_sha256":"7104769f60dd2f871dce1095c0e4d70f9022b08f5679802ec542b4e967adcff4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:57:48.980281Z","signature_b64":"R6RpAm3VWUGDXVcLeddX6At3US9RbN4Chn2fM95Wm8kpTDmEJJFPhNzf5FQK+ajgdBT799EXjjbO5V34R2DRAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7104769f60dd2f871dce1095c0e4d70f9022b08f5679802ec542b4e967adcff4","last_reissued_at":"2026-07-05T11:57:48.979824Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:57:48.979824Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.16460","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":"2026-07-05T11:57:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n3IAcs5AORUol07kD7/hDrxbwzMIgURhbaVHaruesnOXJwQujWiUl2sc+gZaXBbmlpWE1fiTNmBHCMcXfKOQDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T21:25:58.074957Z"},"content_sha256":"aa4b33bc2c3827c7b3cc377a8c1561b940cb4598d12211af36953395c7e2e101","schema_version":"1.0","event_id":"sha256:aa4b33bc2c3827c7b3cc377a8c1561b940cb4598d12211af36953395c7e2e101"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:OECHNH3A3UXYOHOOCCK4BZGXB6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Eliseo Ferrante, Jiri Horyna, Martin Saska, Roland Jung, Stephan Weiss","submitted_at":"2025-08-22T15:20:54Z","abstract_excerpt":"In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative information only. We propose to fuse decentralized state estimation with robust mutual perception and onboard sensor data to maintain accurate state awareness despite intermittent localization failures. Thus, the relative information used to estimate the lateral state of UAVs enables the identification of the unambiguous state of UAVs with respect to the loc"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.16460","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2508.16460/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":"2026-07-05T11:57:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wGePfI3AYP7/zKlqLgT2J/c1LjIiPymERjYVvE2Jn8Wn/jlqlRPTB/Qhn3TLzl1aZ+AO7ywO3jkvI4hbeTaiAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T21:25:58.075451Z"},"content_sha256":"c2d6b3d25f9cbf04fdf88e100f0d74f50d1dc5f46498f150ecbfd796d440410f","schema_version":"1.0","event_id":"sha256:c2d6b3d25f9cbf04fdf88e100f0d74f50d1dc5f46498f150ecbfd796d440410f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/bundle.json","state_url":"https://pith.science/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/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":"2026-08-22T21:25:58Z","links":{"resolver":"https://pith.science/pith/OECHNH3A3UXYOHOOCCK4BZGXB6","bundle":"https://pith.science/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/bundle.json","state":"https://pith.science/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OECHNH3A3UXYOHOOCCK4BZGXB6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:OECHNH3A3UXYOHOOCCK4BZGXB6","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":"cda0d94a79c8ebc602b0902a24a613a1e8b26ff3d835a68c4767e0fe70efd541","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-22T15:20:54Z","title_canon_sha256":"7cba58eee6a121e8672d9107eaf5b5a0fa27700cc385e84f46f42313e837c908"},"schema_version":"1.0","source":{"id":"2508.16460","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.16460","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"arxiv_version","alias_value":"2508.16460v1","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.16460","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_12","alias_value":"OECHNH3A3UXY","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_16","alias_value":"OECHNH3A3UXYOHOO","created_at":"2026-07-05T11:57:48Z"},{"alias_kind":"pith_short_8","alias_value":"OECHNH3A","created_at":"2026-07-05T11:57:48Z"}],"graph_snapshots":[{"event_id":"sha256:c2d6b3d25f9cbf04fdf88e100f0d74f50d1dc5f46498f150ecbfd796d440410f","target":"graph","created_at":"2026-07-05T11:57:48Z","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/2508.16460/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative information only. We propose to fuse decentralized state estimation with robust mutual perception and onboard sensor data to maintain accurate state awareness despite intermittent localization failures. Thus, the relative information used to estimate the lateral state of UAVs enables the identification of the unambiguous state of UAVs with respect to the loc","authors_text":"Eliseo Ferrante, Jiri Horyna, Martin Saska, Roland Jung, Stephan Weiss","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-22T15:20:54Z","title":"Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.16460","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:aa4b33bc2c3827c7b3cc377a8c1561b940cb4598d12211af36953395c7e2e101","target":"record","created_at":"2026-07-05T11:57:48Z","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":"cda0d94a79c8ebc602b0902a24a613a1e8b26ff3d835a68c4767e0fe70efd541","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-22T15:20:54Z","title_canon_sha256":"7cba58eee6a121e8672d9107eaf5b5a0fa27700cc385e84f46f42313e837c908"},"schema_version":"1.0","source":{"id":"2508.16460","kind":"arxiv","version":1}},"canonical_sha256":"7104769f60dd2f871dce1095c0e4d70f9022b08f5679802ec542b4e967adcff4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7104769f60dd2f871dce1095c0e4d70f9022b08f5679802ec542b4e967adcff4","first_computed_at":"2026-07-05T11:57:48.979824Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:57:48.979824Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"R6RpAm3VWUGDXVcLeddX6At3US9RbN4Chn2fM95Wm8kpTDmEJJFPhNzf5FQK+ajgdBT799EXjjbO5V34R2DRAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:57:48.980281Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.16460","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aa4b33bc2c3827c7b3cc377a8c1561b940cb4598d12211af36953395c7e2e101","sha256:c2d6b3d25f9cbf04fdf88e100f0d74f50d1dc5f46498f150ecbfd796d440410f"],"state_sha256":"3772f6ef1f68c2f37136c5ccf516c86c2a4cfb87e9f468a844992f8a2318c22c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cdW9rAg+ifTuHaxjXwlwolLC0IcT9olPb3TCRTeu/7692fTuBv6JkTwa5PKzzh0vGgpjEgwZxgSKlcq8HihbDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T21:25:58.078885Z","bundle_sha256":"28f746e8a5eac1511f605b7d7c575d80804044b483e6181c34c4c56e57aa8e8b"}}