{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:VFO3CD4TOWJ7CICQW2SXVGDPCH","short_pith_number":"pith:VFO3CD4T","canonical_record":{"source":{"id":"2505.14760","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-20T16:41:14Z","cross_cats_sorted":[],"title_canon_sha256":"13121a7d03f0b4942f4a3bdf55bbed7d89af41cef9fb499e4f6e944d40cc06e5","abstract_canon_sha256":"d90a5d6a1a11545fab048cdd931a9f509bae75fac1b1d4f4269f4b5c4aab7eaa"},"schema_version":"1.0"},"canonical_sha256":"a95db10f937593f12050b6a57a986f11d8b697af11c6fe8c821285c78cd61544","source":{"kind":"arxiv","id":"2505.14760","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.14760","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"arxiv_version","alias_value":"2505.14760v1","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.14760","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_12","alias_value":"VFO3CD4TOWJ7","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_16","alias_value":"VFO3CD4TOWJ7CICQ","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_8","alias_value":"VFO3CD4T","created_at":"2026-07-05T11:06:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:VFO3CD4TOWJ7CICQW2SXVGDPCH","target":"record","payload":{"canonical_record":{"source":{"id":"2505.14760","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-20T16:41:14Z","cross_cats_sorted":[],"title_canon_sha256":"13121a7d03f0b4942f4a3bdf55bbed7d89af41cef9fb499e4f6e944d40cc06e5","abstract_canon_sha256":"d90a5d6a1a11545fab048cdd931a9f509bae75fac1b1d4f4269f4b5c4aab7eaa"},"schema_version":"1.0"},"canonical_sha256":"a95db10f937593f12050b6a57a986f11d8b697af11c6fe8c821285c78cd61544","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:06:35.007602Z","signature_b64":"s4yIycw7CG40aJZNASP1Qrfq+LNYm2Yy7foNxEcB6IOMNVPrTpbwVf6aZsxu5cObMjTUOJCWuFvQOjgDD46WDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a95db10f937593f12050b6a57a986f11d8b697af11c6fe8c821285c78cd61544","last_reissued_at":"2026-07-05T11:06:35.007100Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:06:35.007100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.14760","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":"2026-07-05T11:06:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YtL3n+RaE5HlRk4yyU215y9c7N3gK+e9c1A10jLyGbNhVmLSWpdFdLlKGd3pGaUTaZlLQf566PybS6CgFJuZBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T22:14:36.509847Z"},"content_sha256":"0f77d9f1d9f1ac5b6cb36b2a984b933a1ba807144dfcaed3dbade853d849d5df","schema_version":"1.0","event_id":"sha256:0f77d9f1d9f1ac5b6cb36b2a984b933a1ba807144dfcaed3dbade853d849d5df"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:VFO3CD4TOWJ7CICQW2SXVGDPCH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Fast and scalable multi-robot deployment planning under connectivity constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Luis Montano, Yaroslav Marchukov","submitted_at":"2025-05-20T16:41:14Z","abstract_excerpt":"In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under connectivity constraints. The relay positions have to be established for some robots to maintain the connectivity at the moment in which the other robots visit the primary goals. Once every robot reaches its assigned goal, they are again available to cover new goals, dynamically re-distributing the robots to the new tasks. The contribution of this work is a two"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.14760","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/2505.14760/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":"2026-07-05T11:06:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M2rHY2oYflV8QdwnUqmc11vpVDWcHBMQkp0VDe/42ihMGHXNGTRM1sE2V+QmOwOYq75uEDH4TpVr+hffRKEiCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T22:14:36.510743Z"},"content_sha256":"78216b3b5143f10b350e310df562dc3f2976d78b9ccda96c7a0b83a4cf252af7","schema_version":"1.0","event_id":"sha256:78216b3b5143f10b350e310df562dc3f2976d78b9ccda96c7a0b83a4cf252af7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/bundle.json","state_url":"https://pith.science/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/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":"2026-08-15T22:14:36Z","links":{"resolver":"https://pith.science/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH","bundle":"https://pith.science/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/bundle.json","state":"https://pith.science/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VFO3CD4TOWJ7CICQW2SXVGDPCH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:VFO3CD4TOWJ7CICQW2SXVGDPCH","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":"d90a5d6a1a11545fab048cdd931a9f509bae75fac1b1d4f4269f4b5c4aab7eaa","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-20T16:41:14Z","title_canon_sha256":"13121a7d03f0b4942f4a3bdf55bbed7d89af41cef9fb499e4f6e944d40cc06e5"},"schema_version":"1.0","source":{"id":"2505.14760","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.14760","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"arxiv_version","alias_value":"2505.14760v1","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.14760","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_12","alias_value":"VFO3CD4TOWJ7","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_16","alias_value":"VFO3CD4TOWJ7CICQ","created_at":"2026-07-05T11:06:35Z"},{"alias_kind":"pith_short_8","alias_value":"VFO3CD4T","created_at":"2026-07-05T11:06:35Z"}],"graph_snapshots":[{"event_id":"sha256:78216b3b5143f10b350e310df562dc3f2976d78b9ccda96c7a0b83a4cf252af7","target":"graph","created_at":"2026-07-05T11:06:35Z","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/2505.14760/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under connectivity constraints. The relay positions have to be established for some robots to maintain the connectivity at the moment in which the other robots visit the primary goals. Once every robot reaches its assigned goal, they are again available to cover new goals, dynamically re-distributing the robots to the new tasks. The contribution of this work is a two","authors_text":"Luis Montano, Yaroslav Marchukov","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-20T16:41:14Z","title":"Fast and scalable multi-robot deployment planning under connectivity constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.14760","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":"sha256:0f77d9f1d9f1ac5b6cb36b2a984b933a1ba807144dfcaed3dbade853d849d5df","target":"record","created_at":"2026-07-05T11:06:35Z","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":"d90a5d6a1a11545fab048cdd931a9f509bae75fac1b1d4f4269f4b5c4aab7eaa","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-20T16:41:14Z","title_canon_sha256":"13121a7d03f0b4942f4a3bdf55bbed7d89af41cef9fb499e4f6e944d40cc06e5"},"schema_version":"1.0","source":{"id":"2505.14760","kind":"arxiv","version":1}},"canonical_sha256":"a95db10f937593f12050b6a57a986f11d8b697af11c6fe8c821285c78cd61544","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a95db10f937593f12050b6a57a986f11d8b697af11c6fe8c821285c78cd61544","first_computed_at":"2026-07-05T11:06:35.007100Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:06:35.007100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s4yIycw7CG40aJZNASP1Qrfq+LNYm2Yy7foNxEcB6IOMNVPrTpbwVf6aZsxu5cObMjTUOJCWuFvQOjgDD46WDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:06:35.007602Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.14760","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0f77d9f1d9f1ac5b6cb36b2a984b933a1ba807144dfcaed3dbade853d849d5df","sha256:78216b3b5143f10b350e310df562dc3f2976d78b9ccda96c7a0b83a4cf252af7"],"state_sha256":"3a94042d88ce54195fd72b86fe2ff16ae65ecdb190f7d4a8ed23433ffedfea84"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LSI88yEWfJHKM8kJQcnekO9PWws1SRrQ67jlFWI54yW+lQDdYJVNFsvJvP9n9cy7ecjNs5PPqVcYYDOu6NR+BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T22:14:36.527025Z","bundle_sha256":"f5cf9e3ef1ff5f711d84dae17a3256132d7a5dd298e11b63a91a3ad227ff52bc"}}