{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:UPHZ4LCPJTQ6IGSK3IDPHN75YF","short_pith_number":"pith:UPHZ4LCP","canonical_record":{"source":{"id":"1805.07171","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-18T12:33:24Z","cross_cats_sorted":[],"title_canon_sha256":"925f79ff98fa2356f49ed39df19360b47df18ffda00643e24e0c606863a8ff0a","abstract_canon_sha256":"b3e8c5a4110ac7b3666ac97977ea60bc12663cc34cb0d7a034723fe1e0466ba6"},"schema_version":"1.0"},"canonical_sha256":"a3cf9e2c4f4ce1e41a4ada06f3b7fdc15ec37872c39cdf97a9eff3db6c7b73f9","source":{"kind":"arxiv","id":"1805.07171","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07171","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07171v1","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07171","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"UPHZ4LCPJTQ6","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPHZ4LCPJTQ6IGSK","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPHZ4LCP","created_at":"2026-05-18T12:32:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:UPHZ4LCPJTQ6IGSK3IDPHN75YF","target":"record","payload":{"canonical_record":{"source":{"id":"1805.07171","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-18T12:33:24Z","cross_cats_sorted":[],"title_canon_sha256":"925f79ff98fa2356f49ed39df19360b47df18ffda00643e24e0c606863a8ff0a","abstract_canon_sha256":"b3e8c5a4110ac7b3666ac97977ea60bc12663cc34cb0d7a034723fe1e0466ba6"},"schema_version":"1.0"},"canonical_sha256":"a3cf9e2c4f4ce1e41a4ada06f3b7fdc15ec37872c39cdf97a9eff3db6c7b73f9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:15:39.029599Z","signature_b64":"Fq6qA9JLwM1nwhzce4d42Avc79LT0vN9Vbyf5TjZhp6q24nS0lpllk0gebIe2KBZzAsgBUekNb00ZHEUHNlEAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a3cf9e2c4f4ce1e41a4ada06f3b7fdc15ec37872c39cdf97a9eff3db6c7b73f9","last_reissued_at":"2026-05-18T00:15:39.029121Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:15:39.029121Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.07171","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":"2026-05-18T00:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GzQa66W+6DwsZ0LyvI+/9JlYH+BhLeEVyGr/OffeuLfKgzP7diOSgQRrTcAb9CX/2W4Jlv1Qo6/oh+7LQXF7AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T17:27:11.015744Z"},"content_sha256":"3b04a219dd70581bde4c1402ca9a2d334fd25f5005a05cd50c90439c4590783f","schema_version":"1.0","event_id":"sha256:3b04a219dd70581bde4c1402ca9a2d334fd25f5005a05cd50c90439c4590783f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:UPHZ4LCPJTQ6IGSK3IDPHN75YF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On-board Range-based Relative Localization for Micro Aerial Vehicles in indoor Leader-Follower Flight","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Guido C.H.E. de Croon, Kimberly N. McGuire, Mario Coppola, Steven van der Helm","submitted_at":"2018-05-18T12:33:24Z","abstract_excerpt":"We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers that guarantee observability, and also that higher accuracy range measurements are required to rectify the missing heading information, yet both disadvantages can be tackled. Our implementation uses Ultra Wi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07171","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":"2026-05-18T00:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GdGkN3wVsfIoQAR1MQdAThLVu/H4OkmLCnQhilQ+AFVeRV2YLtnLkMGUPsw+8dNv1MUd3pVhiE4TNHlrdl7OAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T17:27:11.016089Z"},"content_sha256":"1b1c0fb902221b01200bbbd73b54dc12454d052fc740753bffefa9abf5e825d9","schema_version":"1.0","event_id":"sha256:1b1c0fb902221b01200bbbd73b54dc12454d052fc740753bffefa9abf5e825d9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/bundle.json","state_url":"https://pith.science/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/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":"2026-06-02T17:27:11Z","links":{"resolver":"https://pith.science/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF","bundle":"https://pith.science/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/bundle.json","state":"https://pith.science/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UPHZ4LCPJTQ6IGSK3IDPHN75YF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:UPHZ4LCPJTQ6IGSK3IDPHN75YF","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":"b3e8c5a4110ac7b3666ac97977ea60bc12663cc34cb0d7a034723fe1e0466ba6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-18T12:33:24Z","title_canon_sha256":"925f79ff98fa2356f49ed39df19360b47df18ffda00643e24e0c606863a8ff0a"},"schema_version":"1.0","source":{"id":"1805.07171","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07171","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07171v1","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07171","created_at":"2026-05-18T00:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"UPHZ4LCPJTQ6","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPHZ4LCPJTQ6IGSK","created_at":"2026-05-18T12:32:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPHZ4LCP","created_at":"2026-05-18T12:32:56Z"}],"graph_snapshots":[{"event_id":"sha256:1b1c0fb902221b01200bbbd73b54dc12454d052fc740753bffefa9abf5e825d9","target":"graph","created_at":"2026-05-18T00:15:39Z","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":"We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers that guarantee observability, and also that higher accuracy range measurements are required to rectify the missing heading information, yet both disadvantages can be tackled. Our implementation uses Ultra Wi","authors_text":"Guido C.H.E. de Croon, Kimberly N. McGuire, Mario Coppola, Steven van der Helm","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-18T12:33:24Z","title":"On-board Range-based Relative Localization for Micro Aerial Vehicles in indoor Leader-Follower Flight"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07171","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":"sha256:3b04a219dd70581bde4c1402ca9a2d334fd25f5005a05cd50c90439c4590783f","target":"record","created_at":"2026-05-18T00:15:39Z","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":"b3e8c5a4110ac7b3666ac97977ea60bc12663cc34cb0d7a034723fe1e0466ba6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-18T12:33:24Z","title_canon_sha256":"925f79ff98fa2356f49ed39df19360b47df18ffda00643e24e0c606863a8ff0a"},"schema_version":"1.0","source":{"id":"1805.07171","kind":"arxiv","version":1}},"canonical_sha256":"a3cf9e2c4f4ce1e41a4ada06f3b7fdc15ec37872c39cdf97a9eff3db6c7b73f9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a3cf9e2c4f4ce1e41a4ada06f3b7fdc15ec37872c39cdf97a9eff3db6c7b73f9","first_computed_at":"2026-05-18T00:15:39.029121Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:15:39.029121Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Fq6qA9JLwM1nwhzce4d42Avc79LT0vN9Vbyf5TjZhp6q24nS0lpllk0gebIe2KBZzAsgBUekNb00ZHEUHNlEAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:15:39.029599Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.07171","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3b04a219dd70581bde4c1402ca9a2d334fd25f5005a05cd50c90439c4590783f","sha256:1b1c0fb902221b01200bbbd73b54dc12454d052fc740753bffefa9abf5e825d9"],"state_sha256":"d70400d00c4c63027620e1f161b77c4b9ce141aadd6e9af020ee73283fbdb10b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"albENT7Ea0uTFohw6zZQW5HJjKOA4TJlt3n6Hu7nnCvoRHQxj8CdMB3UZNlcDMxgCKoJmXYjF4RoUJ3XjbHbCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T17:27:11.018361Z","bundle_sha256":"9ca8f934cd728415142b64df43bf64e845a2f0a7d57966abe5dd38d484695e57"}}