{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:S3DSILLNWLP4OPNHIIZ5ARWCVY","short_pith_number":"pith:S3DSILLN","canonical_record":{"source":{"id":"2605.24125","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:38:03Z","cross_cats_sorted":[],"title_canon_sha256":"1c32df2779b38b7c308a0dc5fff576718576341283d28b786c0c35b220e6ec17","abstract_canon_sha256":"247e11fbbcfca2a4ce0e610ed46e5243ce8992c1a65e9677e085fe814bbf4b2c"},"schema_version":"1.0"},"canonical_sha256":"96c7242d6db2dfc73da74233d046c2ae3228ba9d7b120b26c02a1067396c2b83","source":{"kind":"arxiv","id":"2605.24125","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24125","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24125v1","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24125","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_12","alias_value":"S3DSILLNWLP4","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_16","alias_value":"S3DSILLNWLP4OPNH","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_8","alias_value":"S3DSILLN","created_at":"2026-05-26T01:02:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:S3DSILLNWLP4OPNHIIZ5ARWCVY","target":"record","payload":{"canonical_record":{"source":{"id":"2605.24125","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:38:03Z","cross_cats_sorted":[],"title_canon_sha256":"1c32df2779b38b7c308a0dc5fff576718576341283d28b786c0c35b220e6ec17","abstract_canon_sha256":"247e11fbbcfca2a4ce0e610ed46e5243ce8992c1a65e9677e085fe814bbf4b2c"},"schema_version":"1.0"},"canonical_sha256":"96c7242d6db2dfc73da74233d046c2ae3228ba9d7b120b26c02a1067396c2b83","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-26T01:02:47.673809Z","signature_b64":"JUSCauIL/zWTjrLV36w9lmB7stXjXDYmzrG6eeCZ3OpJLAv+he761sKogkeg/mVZoP83bGRG9h1yg5jhWXE8Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96c7242d6db2dfc73da74233d046c2ae3228ba9d7b120b26c02a1067396c2b83","last_reissued_at":"2026-05-26T01:02:47.672983Z","signature_status":"signed_v1","first_computed_at":"2026-05-26T01:02:47.672983Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.24125","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":"2026-05-26T01:02:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jHga9iyUR0fk/ul0ISugvxFKrYA7tdlIXTdTuA35+e8BywPgTRLZYhXkazZjmKbmyHCgWmEriGLn+ouIogirDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T10:20:55.334261Z"},"content_sha256":"18fef9c5b7d6098d1ecd19d9d0739523c542f07aeb7179774d16115e33d82f1b","schema_version":"1.0","event_id":"sha256:18fef9c5b7d6098d1ecd19d9d0739523c542f07aeb7179774d16115e33d82f1b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:S3DSILLNWLP4OPNHIIZ5ARWCVY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Anisotropic Diffusion-Driven Ergodic Coverage in Multi-Robot Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anoop Kiran, Nora Ayanian, Thales C. Silva","submitted_at":"2026-05-22T18:38:03Z","abstract_excerpt":"We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat equation-driven ergodic approach was proposed, which adds flexibility to the smoothing of the ergodic metric. However, such an approach, as it is an isotropic diffusion, propagates the error uniformly in all directions, regardless of changes in the desired distribution. We introduce a general class of anisotropic diffusion formulation of the ergodicity prob"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24125","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/2605.24125/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":"2026-05-26T01:02:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VA7CJBt9pe1v2q5tsH9SO4frJCBwAn1X54uija0+L3ku+7nVS4Q8qRXaSDyBsuZxUEch6F6HwOjUDSfzDnPfAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T10:20:55.334941Z"},"content_sha256":"8c909331677c5b2feb34e589e2324852e4fe46dd26930569d5b98769a9e0085f","schema_version":"1.0","event_id":"sha256:8c909331677c5b2feb34e589e2324852e4fe46dd26930569d5b98769a9e0085f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/bundle.json","state_url":"https://pith.science/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/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":"2026-05-28T10:20:55Z","links":{"resolver":"https://pith.science/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY","bundle":"https://pith.science/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/bundle.json","state":"https://pith.science/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S3DSILLNWLP4OPNHIIZ5ARWCVY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:S3DSILLNWLP4OPNHIIZ5ARWCVY","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":"247e11fbbcfca2a4ce0e610ed46e5243ce8992c1a65e9677e085fe814bbf4b2c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:38:03Z","title_canon_sha256":"1c32df2779b38b7c308a0dc5fff576718576341283d28b786c0c35b220e6ec17"},"schema_version":"1.0","source":{"id":"2605.24125","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.24125","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"arxiv_version","alias_value":"2605.24125v1","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.24125","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_12","alias_value":"S3DSILLNWLP4","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_16","alias_value":"S3DSILLNWLP4OPNH","created_at":"2026-05-26T01:02:47Z"},{"alias_kind":"pith_short_8","alias_value":"S3DSILLN","created_at":"2026-05-26T01:02:47Z"}],"graph_snapshots":[{"event_id":"sha256:8c909331677c5b2feb34e589e2324852e4fe46dd26930569d5b98769a9e0085f","target":"graph","created_at":"2026-05-26T01:02:47Z","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/2605.24125/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat equation-driven ergodic approach was proposed, which adds flexibility to the smoothing of the ergodic metric. However, such an approach, as it is an isotropic diffusion, propagates the error uniformly in all directions, regardless of changes in the desired distribution. We introduce a general class of anisotropic diffusion formulation of the ergodicity prob","authors_text":"Anoop Kiran, Nora Ayanian, Thales C. Silva","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:38:03Z","title":"Anisotropic Diffusion-Driven Ergodic Coverage in Multi-Robot Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.24125","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":"sha256:18fef9c5b7d6098d1ecd19d9d0739523c542f07aeb7179774d16115e33d82f1b","target":"record","created_at":"2026-05-26T01:02:47Z","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":"247e11fbbcfca2a4ce0e610ed46e5243ce8992c1a65e9677e085fe814bbf4b2c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T18:38:03Z","title_canon_sha256":"1c32df2779b38b7c308a0dc5fff576718576341283d28b786c0c35b220e6ec17"},"schema_version":"1.0","source":{"id":"2605.24125","kind":"arxiv","version":1}},"canonical_sha256":"96c7242d6db2dfc73da74233d046c2ae3228ba9d7b120b26c02a1067396c2b83","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"96c7242d6db2dfc73da74233d046c2ae3228ba9d7b120b26c02a1067396c2b83","first_computed_at":"2026-05-26T01:02:47.672983Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T01:02:47.672983Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JUSCauIL/zWTjrLV36w9lmB7stXjXDYmzrG6eeCZ3OpJLAv+he761sKogkeg/mVZoP83bGRG9h1yg5jhWXE8Bw==","signature_status":"signed_v1","signed_at":"2026-05-26T01:02:47.673809Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.24125","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:18fef9c5b7d6098d1ecd19d9d0739523c542f07aeb7179774d16115e33d82f1b","sha256:8c909331677c5b2feb34e589e2324852e4fe46dd26930569d5b98769a9e0085f"],"state_sha256":"2763a736596ff4f6b7098c2d7ff8ec8312beae06f86624113a594a13e2d5b567"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HVEkVUNTa9iRW/OGziO7F5Pl2Nj0/zd7GELEIVKK8jxgMpKgAT/CAtPDp6hfCuaTILEIciv15k8B+jaH7615CQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T10:20:55.338451Z","bundle_sha256":"86ed0fe0f1b9669be3d99bbae3550bfedb9f40c75ae838e50a31bac1f2e61d57"}}