{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:R5SLGOVCSJBKTW52R47PV4EISO","short_pith_number":"pith:R5SLGOVC","canonical_record":{"source":{"id":"2302.05258","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T15:32:42Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"f7efb2c48e390af619d08c3ccfcd5ad490f3e2bb3339bd8348aa0626b50f1817","abstract_canon_sha256":"b949c9f9b52e5fcaa08b6eb3769db286f693374edc9e80cace201a77a23351ed"},"schema_version":"1.0"},"canonical_sha256":"8f64b33aa29242a9dbba8f3efaf088939fc0afaad6f165c448ea976571b88611","source":{"kind":"arxiv","id":"2302.05258","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.05258","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"arxiv_version","alias_value":"2302.05258v1","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.05258","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_12","alias_value":"R5SLGOVCSJBK","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_16","alias_value":"R5SLGOVCSJBKTW52","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_8","alias_value":"R5SLGOVC","created_at":"2026-07-05T05:40:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:R5SLGOVCSJBKTW52R47PV4EISO","target":"record","payload":{"canonical_record":{"source":{"id":"2302.05258","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T15:32:42Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"f7efb2c48e390af619d08c3ccfcd5ad490f3e2bb3339bd8348aa0626b50f1817","abstract_canon_sha256":"b949c9f9b52e5fcaa08b6eb3769db286f693374edc9e80cace201a77a23351ed"},"schema_version":"1.0"},"canonical_sha256":"8f64b33aa29242a9dbba8f3efaf088939fc0afaad6f165c448ea976571b88611","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:40:37.317712Z","signature_b64":"I0PARleUIbAheRuNKh1DcFQ2B4X9CYL+3+b4oT3GneLSVbFqpxQGV5TNeLsRd3B0NeuQXEkrkwd0vpg1JyVSCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8f64b33aa29242a9dbba8f3efaf088939fc0afaad6f165c448ea976571b88611","last_reissued_at":"2026-07-05T05:40:37.317277Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:40:37.317277Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.05258","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":"2026-07-05T05:40:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8qsGbxuqxHHG7dzTRy/37bTSiao1KJ1VAJf/2RSCxUOo/woRnTWalK5OeWDZzM4ULhs5attVRGDFLh3yefiqAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T19:35:21.127274Z"},"content_sha256":"790dbcde43032cff3903597b8d931bffc12351deec7835185366360a2e5e25ea","schema_version":"1.0","event_id":"sha256:790dbcde43032cff3903597b8d931bffc12351deec7835185366360a2e5e25ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:R5SLGOVCSJBKTW52R47PV4EISO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano, Martin Saska, Tomas Baca","submitted_at":"2023-02-09T15:32:42Z","abstract_excerpt":"This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is based on the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. As global and concurrent information of all swarm members is not available in natural swarms, these systems use local observations to achieve the desired behavior. Similarly, PACNav relies only on local observations of relative positions of UAVs,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.05258","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/2302.05258/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":"2026-07-05T05:40:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7qt0vK7XPN0js7rb0usgwwUYn3p23iZ47V5Ue5RykUdI3IaqrDhKQtnxDzMl8joIR9nJTAlBt0NuIwIXH54nAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T19:35:21.127757Z"},"content_sha256":"cfa02a21fe888f415ce3cb822953b8b3775f1098090d9c60b285887f225f532a","schema_version":"1.0","event_id":"sha256:cfa02a21fe888f415ce3cb822953b8b3775f1098090d9c60b285887f225f532a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R5SLGOVCSJBKTW52R47PV4EISO/bundle.json","state_url":"https://pith.science/pith/R5SLGOVCSJBKTW52R47PV4EISO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R5SLGOVCSJBKTW52R47PV4EISO/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":"2026-08-14T19:35:21Z","links":{"resolver":"https://pith.science/pith/R5SLGOVCSJBKTW52R47PV4EISO","bundle":"https://pith.science/pith/R5SLGOVCSJBKTW52R47PV4EISO/bundle.json","state":"https://pith.science/pith/R5SLGOVCSJBKTW52R47PV4EISO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R5SLGOVCSJBKTW52R47PV4EISO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:R5SLGOVCSJBKTW52R47PV4EISO","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":"b949c9f9b52e5fcaa08b6eb3769db286f693374edc9e80cace201a77a23351ed","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T15:32:42Z","title_canon_sha256":"f7efb2c48e390af619d08c3ccfcd5ad490f3e2bb3339bd8348aa0626b50f1817"},"schema_version":"1.0","source":{"id":"2302.05258","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.05258","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"arxiv_version","alias_value":"2302.05258v1","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.05258","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_12","alias_value":"R5SLGOVCSJBK","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_16","alias_value":"R5SLGOVCSJBKTW52","created_at":"2026-07-05T05:40:37Z"},{"alias_kind":"pith_short_8","alias_value":"R5SLGOVC","created_at":"2026-07-05T05:40:37Z"}],"graph_snapshots":[{"event_id":"sha256:cfa02a21fe888f415ce3cb822953b8b3775f1098090d9c60b285887f225f532a","target":"graph","created_at":"2026-07-05T05:40:37Z","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/2302.05258/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This article proposes Persistence Administered Collective Navigation (PACNav) as an approach for achieving decentralized collective navigation of Unmanned Aerial Vehicle (UAV) swarms. The technique is based on the flocking and collective navigation behavior observed in natural swarms, such as cattle herds, bird flocks, and even large groups of humans. As global and concurrent information of all swarm members is not available in natural swarms, these systems use local observations to achieve the desired behavior. Similarly, PACNav relies only on local observations of relative positions of UAVs,","authors_text":"Afzal Ahmad, Daniel Bonilla Licea, Giuseppe Silano, Martin Saska, Tomas Baca","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T15:32:42Z","title":"PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.05258","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":"sha256:790dbcde43032cff3903597b8d931bffc12351deec7835185366360a2e5e25ea","target":"record","created_at":"2026-07-05T05:40:37Z","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":"b949c9f9b52e5fcaa08b6eb3769db286f693374edc9e80cace201a77a23351ed","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T15:32:42Z","title_canon_sha256":"f7efb2c48e390af619d08c3ccfcd5ad490f3e2bb3339bd8348aa0626b50f1817"},"schema_version":"1.0","source":{"id":"2302.05258","kind":"arxiv","version":1}},"canonical_sha256":"8f64b33aa29242a9dbba8f3efaf088939fc0afaad6f165c448ea976571b88611","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8f64b33aa29242a9dbba8f3efaf088939fc0afaad6f165c448ea976571b88611","first_computed_at":"2026-07-05T05:40:37.317277Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:40:37.317277Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"I0PARleUIbAheRuNKh1DcFQ2B4X9CYL+3+b4oT3GneLSVbFqpxQGV5TNeLsRd3B0NeuQXEkrkwd0vpg1JyVSCw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:40:37.317712Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.05258","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:790dbcde43032cff3903597b8d931bffc12351deec7835185366360a2e5e25ea","sha256:cfa02a21fe888f415ce3cb822953b8b3775f1098090d9c60b285887f225f532a"],"state_sha256":"e9459c299e899c9d33b49f5fea4827856a29e8323704344ccfe92c30aad44809"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Gom3lU/85DcnjJ/tVkzb0CEE/CwbVQGWrKKfyGMWZebVu94WJRi0pL4WP/WVh8MreZRkFg/EORr7flWNOSEyCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T19:35:21.132790Z","bundle_sha256":"b706480774a0658caff9edd6eb25e711fe40ccfd3df421718fa95e9a0309be9d"}}