{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:S6A5YYDEEOM6SOMQXNWO2JKFJQ","short_pith_number":"pith:S6A5YYDE","canonical_record":{"source":{"id":"2005.04335","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-09T01:27:28Z","cross_cats_sorted":[],"title_canon_sha256":"75bb7554a94ef93b336cd92b68874918bfb6fea0cffb11515913c766a525f2d7","abstract_canon_sha256":"a9a7edd75784e26a55048bb3424cc5c9bed087775a8c7dbd5259ff8114f009b5"},"schema_version":"1.0"},"canonical_sha256":"9781dc60642399e93990bb6ced25454c040cc6229c609e0741a11e8de3cca808","source":{"kind":"arxiv","id":"2005.04335","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.04335","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"arxiv_version","alias_value":"2005.04335v1","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.04335","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_12","alias_value":"S6A5YYDEEOM6","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_16","alias_value":"S6A5YYDEEOM6SOMQ","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_8","alias_value":"S6A5YYDE","created_at":"2026-07-05T01:01:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:S6A5YYDEEOM6SOMQXNWO2JKFJQ","target":"record","payload":{"canonical_record":{"source":{"id":"2005.04335","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-09T01:27:28Z","cross_cats_sorted":[],"title_canon_sha256":"75bb7554a94ef93b336cd92b68874918bfb6fea0cffb11515913c766a525f2d7","abstract_canon_sha256":"a9a7edd75784e26a55048bb3424cc5c9bed087775a8c7dbd5259ff8114f009b5"},"schema_version":"1.0"},"canonical_sha256":"9781dc60642399e93990bb6ced25454c040cc6229c609e0741a11e8de3cca808","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:01:42.971944Z","signature_b64":"T1ixB3nhJPnunoas3GwfSCWxUgE8VOBjzj/je3kMY0QFjLDJ9rzcHwpqJgSV7KEgJ/JhWA1vd+cajIzj/IF3BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9781dc60642399e93990bb6ced25454c040cc6229c609e0741a11e8de3cca808","last_reissued_at":"2026-07-05T01:01:42.971506Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:01:42.971506Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.04335","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":"2026-07-05T01:01:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rrxdU3R/0Zx9NgLyTXt7zsx4RrTFRlgIN9AJVL74x/++nOTRKCnim1/tZ/3HaqouIBq7zNkGZbiv3pC8MHEsAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:15:28.631653Z"},"content_sha256":"4a2d99c660eff97b207d52d4486f4a5b9e218935566007e8c867e237ea3782c2","schema_version":"1.0","event_id":"sha256:4a2d99c660eff97b207d52d4486f4a5b9e218935566007e8c867e237ea3782c2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:S6A5YYDEEOM6SOMQXNWO2JKFJQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Frank Mascarich, Huan Nguyen, Kostas Alexis, Tung Dang","submitted_at":"2020-05-09T01:27:28Z","abstract_excerpt":"In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high degree of systematicity. The robotic system can operate assuming either no prior knowledge of the environment or by integrating a prior model of it. In the first case, autonomous exploration is provided which returns a high fidelity $3\\textrm{D}$ map associated with color and thermal vision information. In the second case, the prior model of the structure ca"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.04335","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/2005.04335/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":"2026-07-05T01:01:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s8DGbeJKLMZV08kWZXIteeTHJmWVbFJVqBr9UnFuC1oNuoI3tTTyO53FWRXh09sY2JD7b7fRQ8xr/gw+H1aSDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:15:28.632030Z"},"content_sha256":"1d16726bdc573a6d2e98e1c6bd7fe9a8f682009a9c17994506942379296b987c","schema_version":"1.0","event_id":"sha256:1d16726bdc573a6d2e98e1c6bd7fe9a8f682009a9c17994506942379296b987c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/bundle.json","state_url":"https://pith.science/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/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":"2026-07-09T02:15:28Z","links":{"resolver":"https://pith.science/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ","bundle":"https://pith.science/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/bundle.json","state":"https://pith.science/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/S6A5YYDEEOM6SOMQXNWO2JKFJQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:S6A5YYDEEOM6SOMQXNWO2JKFJQ","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":"a9a7edd75784e26a55048bb3424cc5c9bed087775a8c7dbd5259ff8114f009b5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-09T01:27:28Z","title_canon_sha256":"75bb7554a94ef93b336cd92b68874918bfb6fea0cffb11515913c766a525f2d7"},"schema_version":"1.0","source":{"id":"2005.04335","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.04335","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"arxiv_version","alias_value":"2005.04335v1","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.04335","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_12","alias_value":"S6A5YYDEEOM6","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_16","alias_value":"S6A5YYDEEOM6SOMQ","created_at":"2026-07-05T01:01:42Z"},{"alias_kind":"pith_short_8","alias_value":"S6A5YYDE","created_at":"2026-07-05T01:01:42Z"}],"graph_snapshots":[{"event_id":"sha256:1d16726bdc573a6d2e98e1c6bd7fe9a8f682009a9c17994506942379296b987c","target":"graph","created_at":"2026-07-05T01:01:42Z","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/2005.04335/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high degree of systematicity. The robotic system can operate assuming either no prior knowledge of the environment or by integrating a prior model of it. In the first case, autonomous exploration is provided which returns a high fidelity $3\\textrm{D}$ map associated with color and thermal vision information. In the second case, the prior model of the structure ca","authors_text":"Frank Mascarich, Huan Nguyen, Kostas Alexis, Tung Dang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-09T01:27:28Z","title":"Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.04335","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":"sha256:4a2d99c660eff97b207d52d4486f4a5b9e218935566007e8c867e237ea3782c2","target":"record","created_at":"2026-07-05T01:01:42Z","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":"a9a7edd75784e26a55048bb3424cc5c9bed087775a8c7dbd5259ff8114f009b5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-09T01:27:28Z","title_canon_sha256":"75bb7554a94ef93b336cd92b68874918bfb6fea0cffb11515913c766a525f2d7"},"schema_version":"1.0","source":{"id":"2005.04335","kind":"arxiv","version":1}},"canonical_sha256":"9781dc60642399e93990bb6ced25454c040cc6229c609e0741a11e8de3cca808","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9781dc60642399e93990bb6ced25454c040cc6229c609e0741a11e8de3cca808","first_computed_at":"2026-07-05T01:01:42.971506Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:01:42.971506Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"T1ixB3nhJPnunoas3GwfSCWxUgE8VOBjzj/je3kMY0QFjLDJ9rzcHwpqJgSV7KEgJ/JhWA1vd+cajIzj/IF3BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T01:01:42.971944Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.04335","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4a2d99c660eff97b207d52d4486f4a5b9e218935566007e8c867e237ea3782c2","sha256:1d16726bdc573a6d2e98e1c6bd7fe9a8f682009a9c17994506942379296b987c"],"state_sha256":"1cff30e055a635fe8ef9ae71194cdb0b6be9e192218ce626ef299387cb5a4853"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TuobzEC9UVJUfnaBFh2JXPMv5basOl0twW+gC7Iq5aufwDbH/V9EGeU7ZvmdeRcSkh468AtTq92xi1Lt0a50DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T02:15:28.634007Z","bundle_sha256":"b1ad0dff16aed894cf8fda7812827c633ef2e574a18bb1cb7812a4cd0afd438e"}}