{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:TL6H2NQO2YMDJAMKRUO6CEJDM3","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":"32274108fb9ba4e28c5e1970465b87efb89aff0ae9942e3dd36a58c36e49496e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-05T16:31:28Z","title_canon_sha256":"00f5f0712818b2e84ac2644f2572472fd05ed3ab37295a58447631fd1efbd28a"},"schema_version":"1.0","source":{"id":"2408.02605","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.02605","created_at":"2026-07-05T08:52:15Z"},{"alias_kind":"arxiv_version","alias_value":"2408.02605v1","created_at":"2026-07-05T08:52:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.02605","created_at":"2026-07-05T08:52:15Z"},{"alias_kind":"pith_short_12","alias_value":"TL6H2NQO2YMD","created_at":"2026-07-05T08:52:15Z"},{"alias_kind":"pith_short_16","alias_value":"TL6H2NQO2YMDJAMK","created_at":"2026-07-05T08:52:15Z"},{"alias_kind":"pith_short_8","alias_value":"TL6H2NQO","created_at":"2026-07-05T08:52:15Z"}],"graph_snapshots":[{"event_id":"sha256:aa70f7e5184d8bcd7209b4519807de45c43bf7e7e828c2c37cef18de25a77b9d","target":"graph","created_at":"2026-07-05T08:52:15Z","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/2408.02605/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in other fields of robotics. Centralised and decentralised control strategies both pose a unique set of benefits and drawbacks for the control of multi-robot systems. While decentralised systems are more scalable and resilient, they are less efficient compared to the centralised systems and they lead to excessive data transmissions to the human operators causi","authors_text":"and Danesh Tarapore, Klaus-Peter Zauner, Mohammad D. Soorati, Sarvapali D. Ramchurn, Thomas G. Kelly","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-05T16:31:28Z","title":"Trade-offs of Dynamic Control Structure in Human-swarm Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.02605","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:fe25feb09b960536021a69fef876478ab3b6fc73572a04d4582cd87380b24044","target":"record","created_at":"2026-07-05T08:52:15Z","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":"32274108fb9ba4e28c5e1970465b87efb89aff0ae9942e3dd36a58c36e49496e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-08-05T16:31:28Z","title_canon_sha256":"00f5f0712818b2e84ac2644f2572472fd05ed3ab37295a58447631fd1efbd28a"},"schema_version":"1.0","source":{"id":"2408.02605","kind":"arxiv","version":1}},"canonical_sha256":"9afc7d360ed61834818a8d1de1112366f25810775f2e6d55cf7716a974046f75","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9afc7d360ed61834818a8d1de1112366f25810775f2e6d55cf7716a974046f75","first_computed_at":"2026-07-05T08:52:15.137574Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:52:15.137574Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mx3anQxzSIUInIgpTtQJKpnR1WD50MhSkdu8oNalMV+k4uoDzsjC3SaYOcNAgVVeRvD0N+coClOHwIwvnrTfCw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:52:15.138027Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.02605","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe25feb09b960536021a69fef876478ab3b6fc73572a04d4582cd87380b24044","sha256:aa70f7e5184d8bcd7209b4519807de45c43bf7e7e828c2c37cef18de25a77b9d"],"state_sha256":"9ab06517c59898bd6137d69fa4606c1c76582716a5eb1c4e781ebc31d2c2ec80"}