{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:PHSWHPPFEZW5LNOAJVV2MKPOBN","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":"eb47e6db777a794ad49933a5b4979fd25266a1b10402eec01275d36cd5568353","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T06:36:10Z","title_canon_sha256":"b3c9277b91d12dae9407718f76da20249e2a82d89d49604068fb8c5f02237151"},"schema_version":"1.0","source":{"id":"2502.16887","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.16887","created_at":"2026-07-05T10:19:01Z"},{"alias_kind":"arxiv_version","alias_value":"2502.16887v1","created_at":"2026-07-05T10:19:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.16887","created_at":"2026-07-05T10:19:01Z"},{"alias_kind":"pith_short_12","alias_value":"PHSWHPPFEZW5","created_at":"2026-07-05T10:19:01Z"},{"alias_kind":"pith_short_16","alias_value":"PHSWHPPFEZW5LNOA","created_at":"2026-07-05T10:19:01Z"},{"alias_kind":"pith_short_8","alias_value":"PHSWHPPF","created_at":"2026-07-05T10:19:01Z"}],"graph_snapshots":[{"event_id":"sha256:09f7dba3aa5cc8ee6a89c37f105fba8a0fcfb5f5259c4af29f44f0b966fcb0cf","target":"graph","created_at":"2026-07-05T10:19:01Z","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/2502.16887/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed specifically for large-scale autonomous aerial swarms. The proposed approach adopts a decentralized and asynchronous replanning strategy. Within it is a novel motion primitive library consisting of time-optimal and dynamically feasible trajectories. They are generated utlizing a novel time-optimial path parameterization algorithm based on reachability analysis (TOPP-","authors_text":"Ang Li, Chao Xu, Fei Gao, Jialiang Hou, Neng Pan, Xin Zhou, Yuxiang Guan, Zhongxue Gan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T06:36:10Z","title":"Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.16887","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:ed9e17a558b6beae251e5b84e7fd77f770cfdab9e5852b2417369d17531ce28a","target":"record","created_at":"2026-07-05T10:19:01Z","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":"eb47e6db777a794ad49933a5b4979fd25266a1b10402eec01275d36cd5568353","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T06:36:10Z","title_canon_sha256":"b3c9277b91d12dae9407718f76da20249e2a82d89d49604068fb8c5f02237151"},"schema_version":"1.0","source":{"id":"2502.16887","kind":"arxiv","version":1}},"canonical_sha256":"79e563bde5266dd5b5c04d6ba629ee0b4913b4d7883adac4e8e37a7299fe7d15","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"79e563bde5266dd5b5c04d6ba629ee0b4913b4d7883adac4e8e37a7299fe7d15","first_computed_at":"2026-07-05T10:19:01.772426Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:19:01.772426Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TnYQJKxhmup9zZwrfZykOUprVunGuh8FrV2vDMJPBZOyHOmL3leq5AK30NOkAtq7PC2oUll+oWMXj2wIlUySAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T10:19:01.772940Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.16887","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ed9e17a558b6beae251e5b84e7fd77f770cfdab9e5852b2417369d17531ce28a","sha256:09f7dba3aa5cc8ee6a89c37f105fba8a0fcfb5f5259c4af29f44f0b966fcb0cf"],"state_sha256":"a0d04857bc1ac58f89b01a770c9b2c85ab39b0d29e0a8908412d7d7ecd23bf77"}