{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:OIO6SO4F4AD7X7J6VLGAKIDOOD","short_pith_number":"pith:OIO6SO4F","canonical_record":{"source":{"id":"2405.08345","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-14T06:33:56Z","cross_cats_sorted":[],"title_canon_sha256":"d32ba3559eb42bf42bd79fcbaf8b8a7406cfb15d0a88a26fcecf90538191b69b","abstract_canon_sha256":"4e2442834de3c19c91d48a874c90653651570c1ff512570214f487f91dec2b1d"},"schema_version":"1.0"},"canonical_sha256":"721de93b85e007fbfd3eaacc05206e70d781a8d94059b0109059a8ce8c52241e","source":{"kind":"arxiv","id":"2405.08345","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.08345","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"arxiv_version","alias_value":"2405.08345v2","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.08345","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_12","alias_value":"OIO6SO4F4AD7","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_16","alias_value":"OIO6SO4F4AD7X7J6","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_8","alias_value":"OIO6SO4F","created_at":"2026-07-05T09:43:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:OIO6SO4F4AD7X7J6VLGAKIDOOD","target":"record","payload":{"canonical_record":{"source":{"id":"2405.08345","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-14T06:33:56Z","cross_cats_sorted":[],"title_canon_sha256":"d32ba3559eb42bf42bd79fcbaf8b8a7406cfb15d0a88a26fcecf90538191b69b","abstract_canon_sha256":"4e2442834de3c19c91d48a874c90653651570c1ff512570214f487f91dec2b1d"},"schema_version":"1.0"},"canonical_sha256":"721de93b85e007fbfd3eaacc05206e70d781a8d94059b0109059a8ce8c52241e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:43:29.505101Z","signature_b64":"imiH1xG43y2ysBD0Fs16z0O+zBkx1wt2OCu3d5oiTI2rlMzcZXqyKtRDcaZHLh73Sb6gqL9Q5VkLWQfKCHK2BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"721de93b85e007fbfd3eaacc05206e70d781a8d94059b0109059a8ce8c52241e","last_reissued_at":"2026-07-05T09:43:29.504551Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:43:29.504551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.08345","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:43:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"So3beokmejB9jkFxGdej10lrrQOtDuRpxbol+UWEl3UnNc8SNhjm9vnE2iGouDTbsu3MrdCbpBJ7Y7By5UIMCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T07:26:49.895108Z"},"content_sha256":"44a457f3017bb115ccfc9ade7064f4dee7506a45f3fc2c817550c07041762584","schema_version":"1.0","event_id":"sha256:44a457f3017bb115ccfc9ade7064f4dee7506a45f3fc2c817550c07041762584"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:OIO6SO4F4AD7X7J6VLGAKIDOOD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-Robot Rendezvous in Unknown Environment with Limited Communication","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gaoming Chen, Kun Song, Wenhang Liu, Zhenhua Xiong","submitted_at":"2024-05-14T06:33:56Z","abstract_excerpt":"Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly focus on special scenarios where communication is not allowed and each robot executes a random searching strategy, which is highly time-consuming, especially in large-scale environments. In this work, we focus on rendezvous in unknown environments where communication is available. We divide this task into two steps: rendezvous based environment exploration wit"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.08345","kind":"arxiv","version":2},"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/2405.08345/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":"2026-07-05T09:43:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eyOWfx+3Sy8swPjZkztSKY7OsiVfwMvs8D8HwT7PWClqsmN4n6/jPorjnXm787nlXEWm83n3zY279rqwr108BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T07:26:49.895490Z"},"content_sha256":"15c59191ee43b00c848a11ab84f85cff4e9b6fb05feda2a309ae2eb2588fd47f","schema_version":"1.0","event_id":"sha256:15c59191ee43b00c848a11ab84f85cff4e9b6fb05feda2a309ae2eb2588fd47f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/bundle.json","state_url":"https://pith.science/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/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":"2026-07-06T07:26:49Z","links":{"resolver":"https://pith.science/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD","bundle":"https://pith.science/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/bundle.json","state":"https://pith.science/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OIO6SO4F4AD7X7J6VLGAKIDOOD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:OIO6SO4F4AD7X7J6VLGAKIDOOD","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":"4e2442834de3c19c91d48a874c90653651570c1ff512570214f487f91dec2b1d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-14T06:33:56Z","title_canon_sha256":"d32ba3559eb42bf42bd79fcbaf8b8a7406cfb15d0a88a26fcecf90538191b69b"},"schema_version":"1.0","source":{"id":"2405.08345","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.08345","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"arxiv_version","alias_value":"2405.08345v2","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.08345","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_12","alias_value":"OIO6SO4F4AD7","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_16","alias_value":"OIO6SO4F4AD7X7J6","created_at":"2026-07-05T09:43:29Z"},{"alias_kind":"pith_short_8","alias_value":"OIO6SO4F","created_at":"2026-07-05T09:43:29Z"}],"graph_snapshots":[{"event_id":"sha256:15c59191ee43b00c848a11ab84f85cff4e9b6fb05feda2a309ae2eb2588fd47f","target":"graph","created_at":"2026-07-05T09:43:29Z","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/2405.08345/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is challenging to achieve rendezvous. Previous researches mainly focus on special scenarios where communication is not allowed and each robot executes a random searching strategy, which is highly time-consuming, especially in large-scale environments. In this work, we focus on rendezvous in unknown environments where communication is available. We divide this task into two steps: rendezvous based environment exploration wit","authors_text":"Gaoming Chen, Kun Song, Wenhang Liu, Zhenhua Xiong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-14T06:33:56Z","title":"Multi-Robot Rendezvous in Unknown Environment with Limited Communication"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.08345","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":"sha256:44a457f3017bb115ccfc9ade7064f4dee7506a45f3fc2c817550c07041762584","target":"record","created_at":"2026-07-05T09:43:29Z","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":"4e2442834de3c19c91d48a874c90653651570c1ff512570214f487f91dec2b1d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-14T06:33:56Z","title_canon_sha256":"d32ba3559eb42bf42bd79fcbaf8b8a7406cfb15d0a88a26fcecf90538191b69b"},"schema_version":"1.0","source":{"id":"2405.08345","kind":"arxiv","version":2}},"canonical_sha256":"721de93b85e007fbfd3eaacc05206e70d781a8d94059b0109059a8ce8c52241e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"721de93b85e007fbfd3eaacc05206e70d781a8d94059b0109059a8ce8c52241e","first_computed_at":"2026-07-05T09:43:29.504551Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:43:29.504551Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"imiH1xG43y2ysBD0Fs16z0O+zBkx1wt2OCu3d5oiTI2rlMzcZXqyKtRDcaZHLh73Sb6gqL9Q5VkLWQfKCHK2BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:43:29.505101Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.08345","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:44a457f3017bb115ccfc9ade7064f4dee7506a45f3fc2c817550c07041762584","sha256:15c59191ee43b00c848a11ab84f85cff4e9b6fb05feda2a309ae2eb2588fd47f"],"state_sha256":"85feae06a1b92e53a5bfb48382c774bdc86e7d817c320bd01ef4f5dcba7e99f3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YmBhqxCHy4caIH0rLKSvdveSbf9vPYBncxXiI0eJS8r8pbgqM6CaNn1VMme7A5Fw5jeKjY4HlYz8jBoHwx2uAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T07:26:49.897868Z","bundle_sha256":"7a17e0d2d64aee00dfcc90124c52d62cfff294fb48a347fcd0d681f44d4ffbff"}}