{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:Q5BN276MNQTSFWLT3G5KXYE4MY","short_pith_number":"pith:Q5BN276M","canonical_record":{"source":{"id":"1910.12780","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-10-28T16:08:18Z","cross_cats_sorted":[],"title_canon_sha256":"abb0fc5204169df544ac95e37b53a54160d96522b47255dd5f84126c6d4a14af","abstract_canon_sha256":"c5f97a9524009935bf3722c08bfc63a34a881642f75cd550695b8fd33064bddf"},"schema_version":"1.0"},"canonical_sha256":"8742dd7fcc6c2722d973d9baabe09c66098cf83207ab18bd308e472334e09657","source":{"kind":"arxiv","id":"1910.12780","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.12780","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"arxiv_version","alias_value":"1910.12780v1","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.12780","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_12","alias_value":"Q5BN276MNQTS","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_16","alias_value":"Q5BN276MNQTSFWLT","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_8","alias_value":"Q5BN276M","created_at":"2026-07-05T01:21:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:Q5BN276MNQTSFWLT3G5KXYE4MY","target":"record","payload":{"canonical_record":{"source":{"id":"1910.12780","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-10-28T16:08:18Z","cross_cats_sorted":[],"title_canon_sha256":"abb0fc5204169df544ac95e37b53a54160d96522b47255dd5f84126c6d4a14af","abstract_canon_sha256":"c5f97a9524009935bf3722c08bfc63a34a881642f75cd550695b8fd33064bddf"},"schema_version":"1.0"},"canonical_sha256":"8742dd7fcc6c2722d973d9baabe09c66098cf83207ab18bd308e472334e09657","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:21:16.989773Z","signature_b64":"+HgMV0U6Ywl71iHV6OE3ykQ0HLTNw0Jtx1dLEwNQKIPVcLKl4yeknVvPfZrJ3KBnA6HBPVMXnDfEg+2mCJYgBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8742dd7fcc6c2722d973d9baabe09c66098cf83207ab18bd308e472334e09657","last_reissued_at":"2026-07-05T01:21:16.989391Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:21:16.989391Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1910.12780","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":"2026-07-05T01:21:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ni1aiS7yP8aMjHTdfiuuUX4QXGv8qrbzZV7RfPycx0NX/wXjA2mI6qhlyYbNxQmS/I3aMjjJsyzrxH8ZBKs+CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:20:31.858594Z"},"content_sha256":"4801951691f679d810869de9a36f7bf6f3c30e426cbf2bce4153b1155a7e3d9e","schema_version":"1.0","event_id":"sha256:4801951691f679d810869de9a36f7bf6f3c30e426cbf2bce4153b1155a7e3d9e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:Q5BN276MNQTSFWLT3G5KXYE4MY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Non-Centralized Navigation for Source Localization by Cooperative UAVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"eess.SP","authors_text":"Anna Guerra, Davide Dardari, Petar M. Djuric","submitted_at":"2019-10-28T16:08:18Z","abstract_excerpt":"In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through ad-hoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fash"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.12780","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/1910.12780/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":"2026-07-05T01:21:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FcDfVB+EFZ28ON9pvQ9flnk7/Vn38rJZNZB4i0Mtx18hWufRhcYCi2VlSXucrCRmYAP0ktBujhJvcbJsnADmBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:20:31.858981Z"},"content_sha256":"722139c8d3330d1fe3603b6f33ed45e9f368163ae521cc02e3a73013fae487d1","schema_version":"1.0","event_id":"sha256:722139c8d3330d1fe3603b6f33ed45e9f368163ae521cc02e3a73013fae487d1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/bundle.json","state_url":"https://pith.science/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/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":"2026-07-07T07:20:31Z","links":{"resolver":"https://pith.science/pith/Q5BN276MNQTSFWLT3G5KXYE4MY","bundle":"https://pith.science/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/bundle.json","state":"https://pith.science/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q5BN276MNQTSFWLT3G5KXYE4MY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:Q5BN276MNQTSFWLT3G5KXYE4MY","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":"c5f97a9524009935bf3722c08bfc63a34a881642f75cd550695b8fd33064bddf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-10-28T16:08:18Z","title_canon_sha256":"abb0fc5204169df544ac95e37b53a54160d96522b47255dd5f84126c6d4a14af"},"schema_version":"1.0","source":{"id":"1910.12780","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1910.12780","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"arxiv_version","alias_value":"1910.12780v1","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1910.12780","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_12","alias_value":"Q5BN276MNQTS","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_16","alias_value":"Q5BN276MNQTSFWLT","created_at":"2026-07-05T01:21:16Z"},{"alias_kind":"pith_short_8","alias_value":"Q5BN276M","created_at":"2026-07-05T01:21:16Z"}],"graph_snapshots":[{"event_id":"sha256:722139c8d3330d1fe3603b6f33ed45e9f368163ae521cc02e3a73013fae487d1","target":"graph","created_at":"2026-07-05T01:21:16Z","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/1910.12780/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through ad-hoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fash","authors_text":"Anna Guerra, Davide Dardari, Petar M. Djuric","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-10-28T16:08:18Z","title":"Non-Centralized Navigation for Source Localization by Cooperative UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1910.12780","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":"sha256:4801951691f679d810869de9a36f7bf6f3c30e426cbf2bce4153b1155a7e3d9e","target":"record","created_at":"2026-07-05T01:21:16Z","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":"c5f97a9524009935bf3722c08bfc63a34a881642f75cd550695b8fd33064bddf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-10-28T16:08:18Z","title_canon_sha256":"abb0fc5204169df544ac95e37b53a54160d96522b47255dd5f84126c6d4a14af"},"schema_version":"1.0","source":{"id":"1910.12780","kind":"arxiv","version":1}},"canonical_sha256":"8742dd7fcc6c2722d973d9baabe09c66098cf83207ab18bd308e472334e09657","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8742dd7fcc6c2722d973d9baabe09c66098cf83207ab18bd308e472334e09657","first_computed_at":"2026-07-05T01:21:16.989391Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:21:16.989391Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+HgMV0U6Ywl71iHV6OE3ykQ0HLTNw0Jtx1dLEwNQKIPVcLKl4yeknVvPfZrJ3KBnA6HBPVMXnDfEg+2mCJYgBA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:21:16.989773Z","signed_message":"canonical_sha256_bytes"},"source_id":"1910.12780","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4801951691f679d810869de9a36f7bf6f3c30e426cbf2bce4153b1155a7e3d9e","sha256:722139c8d3330d1fe3603b6f33ed45e9f368163ae521cc02e3a73013fae487d1"],"state_sha256":"d0cd0fbcde6e22f167396e1dafbe9ea94aeb851f1f34d0a56fcbf9ad2acb35bb"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wwHmZzwIrWAXgbdvWQgbeHc0nKUfLFottOJ4v+PMcLGSPoVSQL1OQ3Mfaz2Sry/YaS4SJvLob2zC2TxrSPVYBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T07:20:31.861145Z","bundle_sha256":"fcd29c5238be95ab461f1ac4a56130c9199522b8390d68625a606c23a508463d"}}