{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:SNCTSIDY7LI4QC75XCONF4EDBJ","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":"b824a31cf9a774f396592c9254d2bfb29567eb7f562f51b39a93cccda85d3ccd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-16T10:31:24Z","title_canon_sha256":"64dbb96221dcd75085e131b134521bb15cf06eb1b156ca6089a0b89e9744d4d9"},"schema_version":"1.0","source":{"id":"2404.10446","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.10446","created_at":"2026-07-05T08:14:05Z"},{"alias_kind":"arxiv_version","alias_value":"2404.10446v2","created_at":"2026-07-05T08:14:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.10446","created_at":"2026-07-05T08:14:05Z"},{"alias_kind":"pith_short_12","alias_value":"SNCTSIDY7LI4","created_at":"2026-07-05T08:14:05Z"},{"alias_kind":"pith_short_16","alias_value":"SNCTSIDY7LI4QC75","created_at":"2026-07-05T08:14:05Z"},{"alias_kind":"pith_short_8","alias_value":"SNCTSIDY","created_at":"2026-07-05T08:14:05Z"}],"graph_snapshots":[{"event_id":"sha256:0de4ed44005f3092745384b0e516c734a9678d41b2a4dd94d44a8861b884c82e","target":"graph","created_at":"2026-07-05T08:14:05Z","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/2404.10446/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over the course of a day and especially through the growing season. This dynamism and complexity in appearance seriously impact the stability of the robotics platform, as localisation is a foundational part of that control loop, and so routes must be carefully taught and retaught until autonomy is robust and repeatable. Our system is demonstrated over a 6-week pe","authors_text":"Andrew Hector, Chris Prahacs, Daniele De Martini, John Jackson, Luke Pitt, Man Qi, Matthew Gadd, Matthew Towlson, Nick Hawes, Oliver Bartlett, Paul Newman, Roberto Salguero-G\\'omez, Wayne Tubby","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-16T10:31:24Z","title":"Watching Grass Grow: Long-term Visual Navigation and Mission Planning for Autonomous Biodiversity Monitoring"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.10446","kind":"arxiv","version":2},"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":"sha256:4576db729ac0f9114d182f970346fb4fd910ef8edd75198e944b32123d4b58c4","target":"record","created_at":"2026-07-05T08:14:05Z","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":"b824a31cf9a774f396592c9254d2bfb29567eb7f562f51b39a93cccda85d3ccd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-16T10:31:24Z","title_canon_sha256":"64dbb96221dcd75085e131b134521bb15cf06eb1b156ca6089a0b89e9744d4d9"},"schema_version":"1.0","source":{"id":"2404.10446","kind":"arxiv","version":2}},"canonical_sha256":"9345392078fad1c80bfdb89cd2f0830a665b1df0d6ce299e83e5aa943b86eaa4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9345392078fad1c80bfdb89cd2f0830a665b1df0d6ce299e83e5aa943b86eaa4","first_computed_at":"2026-07-05T08:14:05.506436Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:14:05.506436Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8NhVHJu8weOtpI/BedbJZq/VpydStxfxF8k/77hHzaVDmyHUZCEFhnYQ/zjHiM0p99Broz8TYent3NiUaNGmAw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:14:05.506919Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.10446","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4576db729ac0f9114d182f970346fb4fd910ef8edd75198e944b32123d4b58c4","sha256:0de4ed44005f3092745384b0e516c734a9678d41b2a4dd94d44a8861b884c82e"],"state_sha256":"ee5eaa267af1fc6fdbd65f52e0f44bcafa4d198db35ecc12008a3adc618fcb71"}