{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:V4YRUMXZCJVRIVB4LFCIIUDOUX","short_pith_number":"pith:V4YRUMXZ","canonical_record":{"source":{"id":"1809.03870","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-08T13:33:59Z","cross_cats_sorted":[],"title_canon_sha256":"40289af9517571c36bd5140816ec79697799b4a74a8f27659f5e7617bb6144b6","abstract_canon_sha256":"910b8211fb82c318b47b5d9a6abef207c1175b402ae7847d7e8dd3ea8e89d06e"},"schema_version":"1.0"},"canonical_sha256":"af311a32f9126b14543c594484506ea5f1157d2c80fb139c7ae40b3c150a68d5","source":{"kind":"arxiv","id":"1809.03870","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.03870","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"arxiv_version","alias_value":"1809.03870v3","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.03870","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_12","alias_value":"V4YRUMXZCJVR","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_16","alias_value":"V4YRUMXZCJVRIVB4","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_8","alias_value":"V4YRUMXZ","created_at":"2026-07-05T00:32:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:V4YRUMXZCJVRIVB4LFCIIUDOUX","target":"record","payload":{"canonical_record":{"source":{"id":"1809.03870","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-08T13:33:59Z","cross_cats_sorted":[],"title_canon_sha256":"40289af9517571c36bd5140816ec79697799b4a74a8f27659f5e7617bb6144b6","abstract_canon_sha256":"910b8211fb82c318b47b5d9a6abef207c1175b402ae7847d7e8dd3ea8e89d06e"},"schema_version":"1.0"},"canonical_sha256":"af311a32f9126b14543c594484506ea5f1157d2c80fb139c7ae40b3c150a68d5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:32:29.223428Z","signature_b64":"t1bH+aqn+aq0l62Vn7jCQ8BzdHsl/sgcMRMe0pwRV+Y1Wx0iHW1Kj9HjOP/TNNfIcbtCh7h8XqeuymOAncI7CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"af311a32f9126b14543c594484506ea5f1157d2c80fb139c7ae40b3c150a68d5","last_reissued_at":"2026-07-05T00:32:29.223034Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:32:29.223034Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.03870","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:32:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KvhJw1UP6Um0mIFi9bhARdXwZFzCxnmUkBB6zHwM6YWVGtdkdxr5BrOSM1woA6c61EpmOwjCxm7ilfP5juwkDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:45:25.892114Z"},"content_sha256":"225b22b67e702ef8ae3d4a3bd30be1ae1c3faacf5e04f593c7caee6a1115b0aa","schema_version":"1.0","event_id":"sha256:225b22b67e702ef8ae3d4a3bd30be1ae1c3faacf5e04f593c7caee6a1115b0aa"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:V4YRUMXZCJVRIVB4LFCIIUDOUX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An informative path planning framework for UAV-based terrain monitoring","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gregory Hitz, Inkyu Sa, Jen Jen Chung, Juan Nieto, Marija Popovic, Roland Siegwart, Teresa Vidal-Calleja","submitted_at":"2018-09-08T13:33:59Z","abstract_excerpt":"Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex environments. To address this issue, this article introduces a general Informative Path Planning (IPP) framework for monitoring scenarios using an aerial robot, focusing on problems in which the value of sensor information is unevenly distributed in a target area and unknown a priori . The approach is capable of learning and focusing on regions of interest via adaptatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.03870","kind":"arxiv","version":3},"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/1809.03870/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":"2026-07-05T00:32:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"63ZNo6r1uzmPTAuVERPmBwMnwInASG4ExPG+h+51cVOsdy4om/X/jRcQMO4wycGwPy7BgxDChmuFSiSMAgIDBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T15:45:25.892511Z"},"content_sha256":"4de3b3a533f4c6db3607a2f7b3a72e3cf71cf78f3a26a5916679bce4af185b06","schema_version":"1.0","event_id":"sha256:4de3b3a533f4c6db3607a2f7b3a72e3cf71cf78f3a26a5916679bce4af185b06"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/bundle.json","state_url":"https://pith.science/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/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":"2026-07-06T15:45:25Z","links":{"resolver":"https://pith.science/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX","bundle":"https://pith.science/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/bundle.json","state":"https://pith.science/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V4YRUMXZCJVRIVB4LFCIIUDOUX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:V4YRUMXZCJVRIVB4LFCIIUDOUX","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":"910b8211fb82c318b47b5d9a6abef207c1175b402ae7847d7e8dd3ea8e89d06e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-08T13:33:59Z","title_canon_sha256":"40289af9517571c36bd5140816ec79697799b4a74a8f27659f5e7617bb6144b6"},"schema_version":"1.0","source":{"id":"1809.03870","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.03870","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"arxiv_version","alias_value":"1809.03870v3","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.03870","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_12","alias_value":"V4YRUMXZCJVR","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_16","alias_value":"V4YRUMXZCJVRIVB4","created_at":"2026-07-05T00:32:29Z"},{"alias_kind":"pith_short_8","alias_value":"V4YRUMXZ","created_at":"2026-07-05T00:32:29Z"}],"graph_snapshots":[{"event_id":"sha256:4de3b3a533f4c6db3607a2f7b3a72e3cf71cf78f3a26a5916679bce4af185b06","target":"graph","created_at":"2026-07-05T00:32:29Z","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/1809.03870/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex environments. To address this issue, this article introduces a general Informative Path Planning (IPP) framework for monitoring scenarios using an aerial robot, focusing on problems in which the value of sensor information is unevenly distributed in a target area and unknown a priori . The approach is capable of learning and focusing on regions of interest via adaptatio","authors_text":"Gregory Hitz, Inkyu Sa, Jen Jen Chung, Juan Nieto, Marija Popovic, Roland Siegwart, Teresa Vidal-Calleja","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-08T13:33:59Z","title":"An informative path planning framework for UAV-based terrain monitoring"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.03870","kind":"arxiv","version":3},"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":"sha256:225b22b67e702ef8ae3d4a3bd30be1ae1c3faacf5e04f593c7caee6a1115b0aa","target":"record","created_at":"2026-07-05T00:32:29Z","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":"910b8211fb82c318b47b5d9a6abef207c1175b402ae7847d7e8dd3ea8e89d06e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-09-08T13:33:59Z","title_canon_sha256":"40289af9517571c36bd5140816ec79697799b4a74a8f27659f5e7617bb6144b6"},"schema_version":"1.0","source":{"id":"1809.03870","kind":"arxiv","version":3}},"canonical_sha256":"af311a32f9126b14543c594484506ea5f1157d2c80fb139c7ae40b3c150a68d5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"af311a32f9126b14543c594484506ea5f1157d2c80fb139c7ae40b3c150a68d5","first_computed_at":"2026-07-05T00:32:29.223034Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:32:29.223034Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"t1bH+aqn+aq0l62Vn7jCQ8BzdHsl/sgcMRMe0pwRV+Y1Wx0iHW1Kj9HjOP/TNNfIcbtCh7h8XqeuymOAncI7CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:32:29.223428Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.03870","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:225b22b67e702ef8ae3d4a3bd30be1ae1c3faacf5e04f593c7caee6a1115b0aa","sha256:4de3b3a533f4c6db3607a2f7b3a72e3cf71cf78f3a26a5916679bce4af185b06"],"state_sha256":"d2a3e6257160529b9c3c14f00f6d31b12ba8cce778e4b550390aaaaa68af71b4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8h48F6Bg9MWGAu0JjThykcCMJN38YzpZ3TRb16IeN3pRTNAKq4BbWDO2yyl0btoSbBLPdEwwcaxMBwK9JWGJDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T15:45:25.894740Z","bundle_sha256":"c34c93ae5a710cb5c91c7a37238da38a097d3cd0d95fb8cf817b56326d956f86"}}