{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:OPNYPQOEPEYEX5FLUZFRN74WKF","short_pith_number":"pith:OPNYPQOE","canonical_record":{"source":{"id":"1906.05348","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T17:17:24Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"19da97daf52b8415dcdd291f621e9b5886603bc56372699664b363c047f55e03","abstract_canon_sha256":"c4531cbb62560d531410e15fd0bba6f7ccd845db890b405b43a7400acfc7a9f0"},"schema_version":"1.0"},"canonical_sha256":"73db87c1c479304bf4aba64b16ff965172bd85e2dfa64c7b1b605789ba57559d","source":{"kind":"arxiv","id":"1906.05348","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.05348","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"arxiv_version","alias_value":"1906.05348v1","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.05348","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_12","alias_value":"OPNYPQOEPEYE","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_16","alias_value":"OPNYPQOEPEYEX5FL","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_8","alias_value":"OPNYPQOE","created_at":"2026-07-05T09:09:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:OPNYPQOEPEYEX5FLUZFRN74WKF","target":"record","payload":{"canonical_record":{"source":{"id":"1906.05348","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T17:17:24Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"19da97daf52b8415dcdd291f621e9b5886603bc56372699664b363c047f55e03","abstract_canon_sha256":"c4531cbb62560d531410e15fd0bba6f7ccd845db890b405b43a7400acfc7a9f0"},"schema_version":"1.0"},"canonical_sha256":"73db87c1c479304bf4aba64b16ff965172bd85e2dfa64c7b1b605789ba57559d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:09:45.984395Z","signature_b64":"mLhNglcXBVM3zTko0yGexoW6P8OLotTnnKShImItmZXverRST3BXI+rvjNg3KzwIMkQL27M1VbnSj8CSfCrECA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"73db87c1c479304bf4aba64b16ff965172bd85e2dfa64c7b1b605789ba57559d","last_reissued_at":"2026-07-05T09:09:45.983956Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:09:45.983956Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1906.05348","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":"2026-07-05T09:09:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZAXj7MNPIHEGLcWzhbe6P5PBP9BiL8co5aoR0fh0dHh6AUX9eItWK50J+yjIAlbtLvaJBCnwy5yNR4airlLxAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:11:29.979531Z"},"content_sha256":"6402cf6a37127778ebee7a91aceb116dcd20fd41d0613f657fa107fa320c27f9","schema_version":"1.0","event_id":"sha256:6402cf6a37127778ebee7a91aceb116dcd20fd41d0613f657fa107fa320c27f9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:OPNYPQOEPEYEX5FLUZFRN74WKF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Resilient UAV: Escape Time in GPS Denied Environment with Sensor Drift","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Hunmin Kim, Hyung-Jin Yoon, Lui Sha, Naira Hovakimyan, Petros G. Voulgaris, Wenbin Wan","submitted_at":"2019-06-11T17:17:24Z","abstract_excerpt":"This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU signals as the GPS signals do not contain legitimate information. This limited sensor availability induces a sensor drift problem questioning the reliability of the sensor estimates. We propose a new resilience measure, escape time, as the safe time within which the estimation errors remain in a tolerable region with high probability. This paper analyzes the stab"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.05348","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/1906.05348/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":"2026-07-05T09:09:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QuqdfrUbI584PtTBiXayXBjDJ+UEtfuBIPvnclzlppcyxuPKRz4VrXZpsfyVvQ2TTbUsLvwjflnf0Z5Xj2SdAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:11:29.979898Z"},"content_sha256":"ddfb5e9e0c41a88952b9549dd8e9980b83bebe41101194595626eed60f1538a2","schema_version":"1.0","event_id":"sha256:ddfb5e9e0c41a88952b9549dd8e9980b83bebe41101194595626eed60f1538a2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/bundle.json","state_url":"https://pith.science/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/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":"2026-07-07T11:11:29Z","links":{"resolver":"https://pith.science/pith/OPNYPQOEPEYEX5FLUZFRN74WKF","bundle":"https://pith.science/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/bundle.json","state":"https://pith.science/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OPNYPQOEPEYEX5FLUZFRN74WKF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:OPNYPQOEPEYEX5FLUZFRN74WKF","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":"c4531cbb62560d531410e15fd0bba6f7ccd845db890b405b43a7400acfc7a9f0","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T17:17:24Z","title_canon_sha256":"19da97daf52b8415dcdd291f621e9b5886603bc56372699664b363c047f55e03"},"schema_version":"1.0","source":{"id":"1906.05348","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.05348","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"arxiv_version","alias_value":"1906.05348v1","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.05348","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_12","alias_value":"OPNYPQOEPEYE","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_16","alias_value":"OPNYPQOEPEYEX5FL","created_at":"2026-07-05T09:09:45Z"},{"alias_kind":"pith_short_8","alias_value":"OPNYPQOE","created_at":"2026-07-05T09:09:45Z"}],"graph_snapshots":[{"event_id":"sha256:ddfb5e9e0c41a88952b9549dd8e9980b83bebe41101194595626eed60f1538a2","target":"graph","created_at":"2026-07-05T09:09:45Z","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/1906.05348/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU signals as the GPS signals do not contain legitimate information. This limited sensor availability induces a sensor drift problem questioning the reliability of the sensor estimates. We propose a new resilience measure, escape time, as the safe time within which the estimation errors remain in a tolerable region with high probability. This paper analyzes the stab","authors_text":"Hunmin Kim, Hyung-Jin Yoon, Lui Sha, Naira Hovakimyan, Petros G. Voulgaris, Wenbin Wan","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T17:17:24Z","title":"Towards Resilient UAV: Escape Time in GPS Denied Environment with Sensor Drift"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.05348","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":"sha256:6402cf6a37127778ebee7a91aceb116dcd20fd41d0613f657fa107fa320c27f9","target":"record","created_at":"2026-07-05T09:09:45Z","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":"c4531cbb62560d531410e15fd0bba6f7ccd845db890b405b43a7400acfc7a9f0","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-06-11T17:17:24Z","title_canon_sha256":"19da97daf52b8415dcdd291f621e9b5886603bc56372699664b363c047f55e03"},"schema_version":"1.0","source":{"id":"1906.05348","kind":"arxiv","version":1}},"canonical_sha256":"73db87c1c479304bf4aba64b16ff965172bd85e2dfa64c7b1b605789ba57559d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"73db87c1c479304bf4aba64b16ff965172bd85e2dfa64c7b1b605789ba57559d","first_computed_at":"2026-07-05T09:09:45.983956Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:09:45.983956Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mLhNglcXBVM3zTko0yGexoW6P8OLotTnnKShImItmZXverRST3BXI+rvjNg3KzwIMkQL27M1VbnSj8CSfCrECA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:09:45.984395Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.05348","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6402cf6a37127778ebee7a91aceb116dcd20fd41d0613f657fa107fa320c27f9","sha256:ddfb5e9e0c41a88952b9549dd8e9980b83bebe41101194595626eed60f1538a2"],"state_sha256":"41d77a2fa8aa17ecfa375c33525af74fd742f48563495e97278f30988f8f266f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wb/BzFX/2W2WHEJvle/xu4/omieuypne3Urlbi1nZqmUjeN4+WUSRH1+R6aa/4gjoErsHBBC2OJUmjUHmDCYBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:11:29.982004Z","bundle_sha256":"c2f032dcbdb1ef6887d158043d9692f91da51c6c0bd2d20fca9110ae037d4971"}}