{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:P42NT4UVWDKY5M26ZX75RR4KFN","short_pith_number":"pith:P42NT4UV","schema_version":"1.0","canonical_sha256":"7f34d9f295b0d58eb35ecdffd8c78a2b418ca1a852fd9cbd62f84d9030edff81","source":{"kind":"arxiv","id":"2208.02772","version":2},"attestation_state":"computed","paper":{"title":"Decentralized Risk-Aware Tracking of Multiple Targets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gaurav S. Sukhatme, Jiazhen Liu, Lifeng Zhou, Ragesh Ramachandran, Vijay Kumar","submitted_at":"2022-08-04T17:01:01Z","abstract_excerpt":"We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures. Therefore, it is essential to address the trade-off between tracking quality maximization and risk minimization. In our previous work, a centralized controller is developed to plan motions for all the robots -- however, this is not a scalable approach. Here, we present a decentralized and risk-aware multi-target tracking framework, in which each robot plans i"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2208.02772","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-04T17:01:01Z","cross_cats_sorted":[],"title_canon_sha256":"949d26269f12d1eecfbcfd5748b0aa497b335a0f01f0380765cc77c9afffb092","abstract_canon_sha256":"806742947e4c39616b49a40d0a7c81061afdf1dd959af54e1a2a759d8be0f641"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:07:01.755963Z","signature_b64":"UIe36HpLWQyp1K4IZMELXx4ubiRY3gs+GNkVzhiAuIqB00QaXbNZs6xQbJ1uY3bzL+nTYH87UTite4PlX19OBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7f34d9f295b0d58eb35ecdffd8c78a2b418ca1a852fd9cbd62f84d9030edff81","last_reissued_at":"2026-07-05T05:07:01.755443Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:07:01.755443Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Decentralized Risk-Aware Tracking of Multiple Targets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gaurav S. Sukhatme, Jiazhen Liu, Lifeng Zhou, Ragesh Ramachandran, Vijay Kumar","submitted_at":"2022-08-04T17:01:01Z","abstract_excerpt":"We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures. Therefore, it is essential to address the trade-off between tracking quality maximization and risk minimization. In our previous work, a centralized controller is developed to plan motions for all the robots -- however, this is not a scalable approach. Here, we present a decentralized and risk-aware multi-target tracking framework, in which each robot plans i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.02772","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/2208.02772/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2208.02772","created_at":"2026-07-05T05:07:01.755509+00:00"},{"alias_kind":"arxiv_version","alias_value":"2208.02772v2","created_at":"2026-07-05T05:07:01.755509+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.02772","created_at":"2026-07-05T05:07:01.755509+00:00"},{"alias_kind":"pith_short_12","alias_value":"P42NT4UVWDKY","created_at":"2026-07-05T05:07:01.755509+00:00"},{"alias_kind":"pith_short_16","alias_value":"P42NT4UVWDKY5M26","created_at":"2026-07-05T05:07:01.755509+00:00"},{"alias_kind":"pith_short_8","alias_value":"P42NT4UV","created_at":"2026-07-05T05:07:01.755509+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN","json":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN.json","graph_json":"https://pith.science/api/pith-number/P42NT4UVWDKY5M26ZX75RR4KFN/graph.json","events_json":"https://pith.science/api/pith-number/P42NT4UVWDKY5M26ZX75RR4KFN/events.json","paper":"https://pith.science/paper/P42NT4UV"},"agent_actions":{"view_html":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN","download_json":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN.json","view_paper":"https://pith.science/paper/P42NT4UV","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2208.02772&json=true","fetch_graph":"https://pith.science/api/pith-number/P42NT4UVWDKY5M26ZX75RR4KFN/graph.json","fetch_events":"https://pith.science/api/pith-number/P42NT4UVWDKY5M26ZX75RR4KFN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN/action/storage_attestation","attest_author":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN/action/author_attestation","sign_citation":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN/action/citation_signature","submit_replication":"https://pith.science/pith/P42NT4UVWDKY5M26ZX75RR4KFN/action/replication_record"}},"created_at":"2026-07-05T05:07:01.755509+00:00","updated_at":"2026-07-05T05:07:01.755509+00:00"}