{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:RGGUFGZCZR3V5Q2V3PK6IFULIF","short_pith_number":"pith:RGGUFGZC","canonical_record":{"source":{"id":"1902.03320","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T22:57:32Z","cross_cats_sorted":[],"title_canon_sha256":"e1b9cbbd01dfdd4895dfacb967ce8468df98719f933907622d3b6e49db4b4507","abstract_canon_sha256":"2faba7686600e6d6fc7db43e9675153432dd985f9268811eb33b8655839d4ecf"},"schema_version":"1.0"},"canonical_sha256":"898d429b22cc775ec355dbd5e4168b41567a84569c33101751c823ea48d78d8d","source":{"kind":"arxiv","id":"1902.03320","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.03320","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"arxiv_version","alias_value":"1902.03320v1","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.03320","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"pith_short_12","alias_value":"RGGUFGZCZR3V","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"RGGUFGZCZR3V5Q2V","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"RGGUFGZC","created_at":"2026-05-18T12:33:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:RGGUFGZCZR3V5Q2V3PK6IFULIF","target":"record","payload":{"canonical_record":{"source":{"id":"1902.03320","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T22:57:32Z","cross_cats_sorted":[],"title_canon_sha256":"e1b9cbbd01dfdd4895dfacb967ce8468df98719f933907622d3b6e49db4b4507","abstract_canon_sha256":"2faba7686600e6d6fc7db43e9675153432dd985f9268811eb33b8655839d4ecf"},"schema_version":"1.0"},"canonical_sha256":"898d429b22cc775ec355dbd5e4168b41567a84569c33101751c823ea48d78d8d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:54:21.245881Z","signature_b64":"l1cqizDR/wEWsU740olui2gO9Q+xYq57t1AmA0KSA+qLtUxkRaJ0gaK04EKGe57tCFnh39+btRsVAph4w8+jAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"898d429b22cc775ec355dbd5e4168b41567a84569c33101751c823ea48d78d8d","last_reissued_at":"2026-05-17T23:54:21.245206Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:54:21.245206Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1902.03320","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":"2026-05-17T23:54:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bhX0jgo7eERAnWZ2oGHO/VOEPD5UKNLaYm498tQnQv5uRgZbiSgV+TOGqybZ0yh+/bqJxzIJH6YWtSzBFCvZCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T21:20:39.550465Z"},"content_sha256":"2a9253b5c2697b55a04ba8b391f6e30e284cb52ef5ec072426c791e02c10c67a","schema_version":"1.0","event_id":"sha256:2a9253b5c2697b55a04ba8b391f6e30e284cb52ef5ec072426c791e02c10c67a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:RGGUFGZCZR3V5Q2V3PK6IFULIF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Active Area Coverage from Equilibrium","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ahalya Prabhakar, Ian Abraham, Todd D. Murphey","submitted_at":"2019-02-08T22:57:32Z","abstract_excerpt":"This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies during active data collection. We show that our method is able to maintain Lyapunov attractiveness while still actively seeking out data. Using incremental sparse Gaussian processes, we define distributions which allow a robot to actively seek out informative measurements. We illustrate our methods for shape estimation using a cart double pendulum, dynamic model"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.03320","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":""},"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":"2026-05-17T23:54:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x3vxeozWOEsShq59fQcaZwReabjRuGijfGIeVCY796W/GzYp3p+dqUWKI0g8+CVEfhkZeM0nqxSXhm3M4A+wBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T21:20:39.550805Z"},"content_sha256":"41de5f7c46c8a9be79ce4a9e0a0b84ac84d6981e19088a0ef37da682e869c3a1","schema_version":"1.0","event_id":"sha256:41de5f7c46c8a9be79ce4a9e0a0b84ac84d6981e19088a0ef37da682e869c3a1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/bundle.json","state_url":"https://pith.science/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/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":"2026-06-30T21:20:39Z","links":{"resolver":"https://pith.science/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF","bundle":"https://pith.science/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/bundle.json","state":"https://pith.science/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RGGUFGZCZR3V5Q2V3PK6IFULIF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:RGGUFGZCZR3V5Q2V3PK6IFULIF","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":"2faba7686600e6d6fc7db43e9675153432dd985f9268811eb33b8655839d4ecf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T22:57:32Z","title_canon_sha256":"e1b9cbbd01dfdd4895dfacb967ce8468df98719f933907622d3b6e49db4b4507"},"schema_version":"1.0","source":{"id":"1902.03320","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1902.03320","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"arxiv_version","alias_value":"1902.03320v1","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1902.03320","created_at":"2026-05-17T23:54:21Z"},{"alias_kind":"pith_short_12","alias_value":"RGGUFGZCZR3V","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"RGGUFGZCZR3V5Q2V","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"RGGUFGZC","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:41de5f7c46c8a9be79ce4a9e0a0b84ac84d6981e19088a0ef37da682e869c3a1","target":"graph","created_at":"2026-05-17T23:54:21Z","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"},"paper":{"abstract_excerpt":"This paper develops a method for robots to integrate stability into actively seeking out informative measurements through coverage. We derive a controller using hybrid systems theory that allows us to consider safe equilibrium policies during active data collection. We show that our method is able to maintain Lyapunov attractiveness while still actively seeking out data. Using incremental sparse Gaussian processes, we define distributions which allow a robot to actively seek out informative measurements. We illustrate our methods for shape estimation using a cart double pendulum, dynamic model","authors_text":"Ahalya Prabhakar, Ian Abraham, Todd D. Murphey","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T22:57:32Z","title":"Active Area Coverage from Equilibrium"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.03320","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":"sha256:2a9253b5c2697b55a04ba8b391f6e30e284cb52ef5ec072426c791e02c10c67a","target":"record","created_at":"2026-05-17T23:54:21Z","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":"2faba7686600e6d6fc7db43e9675153432dd985f9268811eb33b8655839d4ecf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-02-08T22:57:32Z","title_canon_sha256":"e1b9cbbd01dfdd4895dfacb967ce8468df98719f933907622d3b6e49db4b4507"},"schema_version":"1.0","source":{"id":"1902.03320","kind":"arxiv","version":1}},"canonical_sha256":"898d429b22cc775ec355dbd5e4168b41567a84569c33101751c823ea48d78d8d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"898d429b22cc775ec355dbd5e4168b41567a84569c33101751c823ea48d78d8d","first_computed_at":"2026-05-17T23:54:21.245206Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:54:21.245206Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"l1cqizDR/wEWsU740olui2gO9Q+xYq57t1AmA0KSA+qLtUxkRaJ0gaK04EKGe57tCFnh39+btRsVAph4w8+jAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:54:21.245881Z","signed_message":"canonical_sha256_bytes"},"source_id":"1902.03320","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2a9253b5c2697b55a04ba8b391f6e30e284cb52ef5ec072426c791e02c10c67a","sha256:41de5f7c46c8a9be79ce4a9e0a0b84ac84d6981e19088a0ef37da682e869c3a1"],"state_sha256":"a9347076143fdf1cedd8f4c245da4016ad1d6c597869eeae1d0d41e9b3095ba1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BX+T3mhcWEVj9tU0FS3iFe+FC5LK4dbUpB1nvMObs10sCtsu4cYAUwoZtwWrJ6g13lsY5LlTCfcePX/NgZNDDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T21:20:39.552814Z","bundle_sha256":"d8c22b6db456d5dcb4f6ee03249da4111beaad7546a9531085bf407c823e54b3"}}