{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:RB2FMUX6YSF6G5B34HJE43IEBV","short_pith_number":"pith:RB2FMUX6","canonical_record":{"source":{"id":"2508.18153","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:58:19Z","cross_cats_sorted":[],"title_canon_sha256":"ef6e6d6c577ebfaf3b657660c1a09b42bd98c8c66d77966ef6e8282a8d4f91e5","abstract_canon_sha256":"c6fdc9eaa4c1edb98b7d55ac0a9be0fb9308e0170e65e668d9807c85e439f9ec"},"schema_version":"1.0"},"canonical_sha256":"88745652fec48be3743be1d24e6d040d7fa892c96cf33c0dbe8204137392ff6f","source":{"kind":"arxiv","id":"2508.18153","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.18153","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"arxiv_version","alias_value":"2508.18153v1","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.18153","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_12","alias_value":"RB2FMUX6YSF6","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_16","alias_value":"RB2FMUX6YSF6G5B3","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_8","alias_value":"RB2FMUX6","created_at":"2026-07-05T11:58:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:RB2FMUX6YSF6G5B34HJE43IEBV","target":"record","payload":{"canonical_record":{"source":{"id":"2508.18153","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:58:19Z","cross_cats_sorted":[],"title_canon_sha256":"ef6e6d6c577ebfaf3b657660c1a09b42bd98c8c66d77966ef6e8282a8d4f91e5","abstract_canon_sha256":"c6fdc9eaa4c1edb98b7d55ac0a9be0fb9308e0170e65e668d9807c85e439f9ec"},"schema_version":"1.0"},"canonical_sha256":"88745652fec48be3743be1d24e6d040d7fa892c96cf33c0dbe8204137392ff6f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:58:54.584495Z","signature_b64":"OAfTzbni3dt7HtEAcHNkrOdXG0rYJKPJ7qMXmMwux+a6yvTnQ1Aus7C1OG2ufIBNO/Ijx1XuAIPQVTsMmMR8BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"88745652fec48be3743be1d24e6d040d7fa892c96cf33c0dbe8204137392ff6f","last_reissued_at":"2026-07-05T11:58:54.584112Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:58:54.584112Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2508.18153","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":"2026-07-05T11:58:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A4HvzBwPdUz4OwqlTvJFM+SekDCgus28g1hdV81Blpo3Rcui/Q+AQl3B7+6a3VfYKRUZQBhbHAlR1UTvG3rGBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:59:33.819465Z"},"content_sha256":"3cc078c42bc6b825160cb4bd573caafd5536214f476b954420696e69ce9362b4","schema_version":"1.0","event_id":"sha256:3cc078c42bc6b825160cb4bd573caafd5536214f476b954420696e69ce9362b4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:RB2FMUX6YSF6G5B34HJE43IEBV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DANCeRS: A Distributed Algorithm for Negotiating Consensus in Robot Swarms with Gaussian Belief Propagation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aalok Patwardhan, Andrew J. Davison","submitted_at":"2025-08-25T15:58:19Z","abstract_excerpt":"Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We present DANCeRS, a unified, distributed algorithm leveraging Gaussian Belief Propagation (GBP) to achieve consensus in both domains. By representing a swarm as a factor graph our method ensures scalability and robustness in dynamic environments, relying on purely peer-to-peer message passing. We demonstrate the effectiveness of our general framework through t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.18153","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/2508.18153/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":"2026-07-05T11:58:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"t9T9hAHJpnEYo7JbajbzoFyruzwk72ZrOkbLKp4HN0w1gh/WL9Z8Wcd03JTGm35FjR+2ri82R/m61LJj3pFpAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:59:33.819869Z"},"content_sha256":"609dc23f8ec09ff84ebbbf21daf8e59fab1ebdc6b11151c9f288ce16b45f5633","schema_version":"1.0","event_id":"sha256:609dc23f8ec09ff84ebbbf21daf8e59fab1ebdc6b11151c9f288ce16b45f5633"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RB2FMUX6YSF6G5B34HJE43IEBV/bundle.json","state_url":"https://pith.science/pith/RB2FMUX6YSF6G5B34HJE43IEBV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RB2FMUX6YSF6G5B34HJE43IEBV/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":"2026-07-07T11:59:33Z","links":{"resolver":"https://pith.science/pith/RB2FMUX6YSF6G5B34HJE43IEBV","bundle":"https://pith.science/pith/RB2FMUX6YSF6G5B34HJE43IEBV/bundle.json","state":"https://pith.science/pith/RB2FMUX6YSF6G5B34HJE43IEBV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RB2FMUX6YSF6G5B34HJE43IEBV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:RB2FMUX6YSF6G5B34HJE43IEBV","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":"c6fdc9eaa4c1edb98b7d55ac0a9be0fb9308e0170e65e668d9807c85e439f9ec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:58:19Z","title_canon_sha256":"ef6e6d6c577ebfaf3b657660c1a09b42bd98c8c66d77966ef6e8282a8d4f91e5"},"schema_version":"1.0","source":{"id":"2508.18153","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.18153","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"arxiv_version","alias_value":"2508.18153v1","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.18153","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_12","alias_value":"RB2FMUX6YSF6","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_16","alias_value":"RB2FMUX6YSF6G5B3","created_at":"2026-07-05T11:58:54Z"},{"alias_kind":"pith_short_8","alias_value":"RB2FMUX6","created_at":"2026-07-05T11:58:54Z"}],"graph_snapshots":[{"event_id":"sha256:609dc23f8ec09ff84ebbbf21daf8e59fab1ebdc6b11151c9f288ce16b45f5633","target":"graph","created_at":"2026-07-05T11:58:54Z","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/2508.18153/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We present DANCeRS, a unified, distributed algorithm leveraging Gaussian Belief Propagation (GBP) to achieve consensus in both domains. By representing a swarm as a factor graph our method ensures scalability and robustness in dynamic environments, relying on purely peer-to-peer message passing. We demonstrate the effectiveness of our general framework through t","authors_text":"Aalok Patwardhan, Andrew J. Davison","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:58:19Z","title":"DANCeRS: A Distributed Algorithm for Negotiating Consensus in Robot Swarms with Gaussian Belief Propagation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.18153","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":"sha256:3cc078c42bc6b825160cb4bd573caafd5536214f476b954420696e69ce9362b4","target":"record","created_at":"2026-07-05T11:58:54Z","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":"c6fdc9eaa4c1edb98b7d55ac0a9be0fb9308e0170e65e668d9807c85e439f9ec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-25T15:58:19Z","title_canon_sha256":"ef6e6d6c577ebfaf3b657660c1a09b42bd98c8c66d77966ef6e8282a8d4f91e5"},"schema_version":"1.0","source":{"id":"2508.18153","kind":"arxiv","version":1}},"canonical_sha256":"88745652fec48be3743be1d24e6d040d7fa892c96cf33c0dbe8204137392ff6f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"88745652fec48be3743be1d24e6d040d7fa892c96cf33c0dbe8204137392ff6f","first_computed_at":"2026-07-05T11:58:54.584112Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:58:54.584112Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OAfTzbni3dt7HtEAcHNkrOdXG0rYJKPJ7qMXmMwux+a6yvTnQ1Aus7C1OG2ufIBNO/Ijx1XuAIPQVTsMmMR8BA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:58:54.584495Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.18153","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cc078c42bc6b825160cb4bd573caafd5536214f476b954420696e69ce9362b4","sha256:609dc23f8ec09ff84ebbbf21daf8e59fab1ebdc6b11151c9f288ce16b45f5633"],"state_sha256":"a323bc1abedbf120121c8e864f7ffd052e25dc873163a4a6692015a9d0212113"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rhz/bpxrwqxfhbdugZTRyfMaLLxAm3A05SKMY4FSYpyP9fkZ309P1bDqboYvwyJ/TsdF/f+nTRHMzg6W8JymAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:59:33.821755Z","bundle_sha256":"360bbfabf238597ac865760320e18dc30b6871fd3b18daeea8406a8175c94a0f"}}