{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:UPWMDN3WN22VMRB5OGP5CQTOWU","short_pith_number":"pith:UPWMDN3W","canonical_record":{"source":{"id":"2104.13591","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T06:52:40Z","cross_cats_sorted":[],"title_canon_sha256":"19b5a9677374ff9bd3fcc8da1e58a42a3e36929f78f20a50c79c3faab76a6a37","abstract_canon_sha256":"df99b996d706c31ad29780002d75e1e71796a12acf756e1c6522832ab24357f2"},"schema_version":"1.0"},"canonical_sha256":"a3ecc1b7766eb556443d719fd1426eb51cfd0703c47ab73bb2f8b40ef33facd3","source":{"kind":"arxiv","id":"2104.13591","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.13591","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"arxiv_version","alias_value":"2104.13591v1","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.13591","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_12","alias_value":"UPWMDN3WN22V","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPWMDN3WN22VMRB5","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPWMDN3W","created_at":"2026-07-05T02:35:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:UPWMDN3WN22VMRB5OGP5CQTOWU","target":"record","payload":{"canonical_record":{"source":{"id":"2104.13591","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T06:52:40Z","cross_cats_sorted":[],"title_canon_sha256":"19b5a9677374ff9bd3fcc8da1e58a42a3e36929f78f20a50c79c3faab76a6a37","abstract_canon_sha256":"df99b996d706c31ad29780002d75e1e71796a12acf756e1c6522832ab24357f2"},"schema_version":"1.0"},"canonical_sha256":"a3ecc1b7766eb556443d719fd1426eb51cfd0703c47ab73bb2f8b40ef33facd3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:35:56.328045Z","signature_b64":"K1VJBcrGViYxfELxjq3gnRfD/TXzkv18E5E35J1HoFr1z9xRSKKrLW/vFaZLG38TF9XkY75uTGSmXpVJtVLXDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a3ecc1b7766eb556443d719fd1426eb51cfd0703c47ab73bb2f8b40ef33facd3","last_reissued_at":"2026-07-05T02:35:56.327625Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:35:56.327625Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.13591","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":"2026-07-05T02:35:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4kW6CzznoZGN7O+XPcyWng0fKo7I7iWWovG+2kWAmyJLOV837I9inyylhUT970o6g16ovOmh3TlV3IW83UlqCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T02:06:25.455512Z"},"content_sha256":"b148e997011a2c4ba48f98c4bc2888b8b79e8c33b6d6be00578cabadfdbb5c81","schema_version":"1.0","event_id":"sha256:b148e997011a2c4ba48f98c4bc2888b8b79e8c33b6d6be00578cabadfdbb5c81"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:UPWMDN3WN22VMRB5OGP5CQTOWU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Development of global optimal coverage control using multiple aerial robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kazuki Shibata, Tatsuya Miyano, Tomohiko Jimbo","submitted_at":"2021-04-28T06:52:40Z","abstract_excerpt":"Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is used, the result sometimes converges to a local optimum. To overcome this problem, game theoretic coverage control has been proposed and found to be capable of stochastically deriving the optimal deployment. From a practical point of view, however, it is necessary to make the result converge to the global optimum deterministically. In this paper, we propose a "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.13591","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/2104.13591/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":"2026-07-05T02:35:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PHicBTdo7K56sGQP413MHpOayf6E+WIA9q2v3ZCTlBYn0hN4/3UXbURp1r3EuyUzrCHzboiDtNwhsO5iiX/aCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-16T02:06:25.455892Z"},"content_sha256":"b9b9759db390c29cbf653a8c01b3cea897323b7f4aae2359299a4ea02806f285","schema_version":"1.0","event_id":"sha256:b9b9759db390c29cbf653a8c01b3cea897323b7f4aae2359299a4ea02806f285"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/bundle.json","state_url":"https://pith.science/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/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":"2026-07-16T02:06:25Z","links":{"resolver":"https://pith.science/pith/UPWMDN3WN22VMRB5OGP5CQTOWU","bundle":"https://pith.science/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/bundle.json","state":"https://pith.science/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UPWMDN3WN22VMRB5OGP5CQTOWU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:UPWMDN3WN22VMRB5OGP5CQTOWU","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":"df99b996d706c31ad29780002d75e1e71796a12acf756e1c6522832ab24357f2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T06:52:40Z","title_canon_sha256":"19b5a9677374ff9bd3fcc8da1e58a42a3e36929f78f20a50c79c3faab76a6a37"},"schema_version":"1.0","source":{"id":"2104.13591","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.13591","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"arxiv_version","alias_value":"2104.13591v1","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.13591","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_12","alias_value":"UPWMDN3WN22V","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_16","alias_value":"UPWMDN3WN22VMRB5","created_at":"2026-07-05T02:35:56Z"},{"alias_kind":"pith_short_8","alias_value":"UPWMDN3W","created_at":"2026-07-05T02:35:56Z"}],"graph_snapshots":[{"event_id":"sha256:b9b9759db390c29cbf653a8c01b3cea897323b7f4aae2359299a4ea02806f285","target":"graph","created_at":"2026-07-05T02:35:56Z","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/2104.13591/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is used, the result sometimes converges to a local optimum. To overcome this problem, game theoretic coverage control has been proposed and found to be capable of stochastically deriving the optimal deployment. From a practical point of view, however, it is necessary to make the result converge to the global optimum deterministically. In this paper, we propose a ","authors_text":"Kazuki Shibata, Tatsuya Miyano, Tomohiko Jimbo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T06:52:40Z","title":"Development of global optimal coverage control using multiple aerial robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.13591","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:b148e997011a2c4ba48f98c4bc2888b8b79e8c33b6d6be00578cabadfdbb5c81","target":"record","created_at":"2026-07-05T02:35:56Z","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":"df99b996d706c31ad29780002d75e1e71796a12acf756e1c6522832ab24357f2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-04-28T06:52:40Z","title_canon_sha256":"19b5a9677374ff9bd3fcc8da1e58a42a3e36929f78f20a50c79c3faab76a6a37"},"schema_version":"1.0","source":{"id":"2104.13591","kind":"arxiv","version":1}},"canonical_sha256":"a3ecc1b7766eb556443d719fd1426eb51cfd0703c47ab73bb2f8b40ef33facd3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a3ecc1b7766eb556443d719fd1426eb51cfd0703c47ab73bb2f8b40ef33facd3","first_computed_at":"2026-07-05T02:35:56.327625Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:35:56.327625Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"K1VJBcrGViYxfELxjq3gnRfD/TXzkv18E5E35J1HoFr1z9xRSKKrLW/vFaZLG38TF9XkY75uTGSmXpVJtVLXDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:35:56.328045Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.13591","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b148e997011a2c4ba48f98c4bc2888b8b79e8c33b6d6be00578cabadfdbb5c81","sha256:b9b9759db390c29cbf653a8c01b3cea897323b7f4aae2359299a4ea02806f285"],"state_sha256":"79cb0f4750fb1b16c0a04d6b6b00332961c15a6b3baa530e679ec6295e6cd14b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1Zs506J8aYtG1ZbUgB2lLUcRMkcdzFGdpSAOaIRruTXn2L0ZBdvnrjkpQ2ph3gWtnX+RIhHGuHK016g7Qv1QAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-16T02:06:25.458011Z","bundle_sha256":"94a9098c7371e3267205a1df5d15dcfbb86391e139362157cbad3ba9800d2d74"}}