{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:VFR4BF4AFOVDSPPRNO4F6YTWCO","short_pith_number":"pith:VFR4BF4A","canonical_record":{"source":{"id":"2406.16612","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-24T12:52:17Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"e57e11fdb5b4fe27e943dcfd533d68dd0338ea6ec7fb7ffb11911737f759eca9","abstract_canon_sha256":"bf7bb2d56e27be8eee10e20e078fe5efa2d6911cf49a7df9a6ca4f0f775267d0"},"schema_version":"1.0"},"canonical_sha256":"a963c097802baa393df16bb85f627613ae49605b7c4a13442a350cc633dd39e2","source":{"kind":"arxiv","id":"2406.16612","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.16612","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"arxiv_version","alias_value":"2406.16612v1","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.16612","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_12","alias_value":"VFR4BF4AFOVD","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_16","alias_value":"VFR4BF4AFOVDSPPR","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_8","alias_value":"VFR4BF4A","created_at":"2026-07-05T08:36:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:VFR4BF4AFOVDSPPRNO4F6YTWCO","target":"record","payload":{"canonical_record":{"source":{"id":"2406.16612","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-24T12:52:17Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"e57e11fdb5b4fe27e943dcfd533d68dd0338ea6ec7fb7ffb11911737f759eca9","abstract_canon_sha256":"bf7bb2d56e27be8eee10e20e078fe5efa2d6911cf49a7df9a6ca4f0f775267d0"},"schema_version":"1.0"},"canonical_sha256":"a963c097802baa393df16bb85f627613ae49605b7c4a13442a350cc633dd39e2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:36:01.372968Z","signature_b64":"RC0c2xM1Zmwunv0bQ0EQQdtK9IOlrGRIHgeD1V+6MRYH+/jAJ5QcDSFXqVz78m0aogQ7EbCy09q3QhCztjt5Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a963c097802baa393df16bb85f627613ae49605b7c4a13442a350cc633dd39e2","last_reissued_at":"2026-07-05T08:36:01.372524Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:36:01.372524Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.16612","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":"2026-07-05T08:36:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fI45adWUqYJFSPitWWh+SU80pG4DPHT6Pj2f2ru5t1kh03fAMzGbPg/6QNGIWBoGfjajYATxqWZVJHCf4Gv8BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T21:15:14.481831Z"},"content_sha256":"9b981baa2a3c313013cc747dc2dfca717805f0032079e0f6f40a526a941328ca","schema_version":"1.0","event_id":"sha256:9b981baa2a3c313013cc747dc2dfca717805f0032079e0f6f40a526a941328ca"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:VFR4BF4AFOVDSPPRNO4F6YTWCO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Physically Talented Aerial Robots with Tactically Smart Swarm Behavior thereof: An Efficient Co-design Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Ehsan Esfahani, Hemanth Manjunatha, Mary Corra, Prajit KrisshnaKumar, Souma Chowdhury, Steve Paul","submitted_at":"2024-06-24T12:52:17Z","abstract_excerpt":"The collective performance or capacity of collaborative autonomous systems such as a swarm of robots is jointly influenced by the morphology and the behavior of individual systems in that collective. In that context, this paper explores how morphology impacts the learned tactical behavior of unmanned aerial/ground robots performing reconnaissance and search & rescue. This is achieved by presenting a computationally efficient framework to solve this otherwise challenging problem of jointly optimizing the morphology and tactical behavior of swarm robots. Key novel developments to this end includ"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.16612","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/2406.16612/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":"2026-07-05T08:36:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"79X1pVTU6T7lrzzNxf4z7r9NkqItZ4rw1rt1yrurA7D4XvCT9JYJsx7DZwHrtGik/8KJhqVZHVMMRAzo8iWEAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T21:15:14.482549Z"},"content_sha256":"8e111b22fb920cbd304e977b0410dc2a50e2ac13eb475d601821097fced2e0ec","schema_version":"1.0","event_id":"sha256:8e111b22fb920cbd304e977b0410dc2a50e2ac13eb475d601821097fced2e0ec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/bundle.json","state_url":"https://pith.science/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/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":"2026-08-13T21:15:14Z","links":{"resolver":"https://pith.science/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO","bundle":"https://pith.science/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/bundle.json","state":"https://pith.science/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VFR4BF4AFOVDSPPRNO4F6YTWCO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:VFR4BF4AFOVDSPPRNO4F6YTWCO","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":"bf7bb2d56e27be8eee10e20e078fe5efa2d6911cf49a7df9a6ca4f0f775267d0","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-24T12:52:17Z","title_canon_sha256":"e57e11fdb5b4fe27e943dcfd533d68dd0338ea6ec7fb7ffb11911737f759eca9"},"schema_version":"1.0","source":{"id":"2406.16612","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.16612","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"arxiv_version","alias_value":"2406.16612v1","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.16612","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_12","alias_value":"VFR4BF4AFOVD","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_16","alias_value":"VFR4BF4AFOVDSPPR","created_at":"2026-07-05T08:36:01Z"},{"alias_kind":"pith_short_8","alias_value":"VFR4BF4A","created_at":"2026-07-05T08:36:01Z"}],"graph_snapshots":[{"event_id":"sha256:8e111b22fb920cbd304e977b0410dc2a50e2ac13eb475d601821097fced2e0ec","target":"graph","created_at":"2026-07-05T08:36:01Z","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/2406.16612/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The collective performance or capacity of collaborative autonomous systems such as a swarm of robots is jointly influenced by the morphology and the behavior of individual systems in that collective. In that context, this paper explores how morphology impacts the learned tactical behavior of unmanned aerial/ground robots performing reconnaissance and search & rescue. This is achieved by presenting a computationally efficient framework to solve this otherwise challenging problem of jointly optimizing the morphology and tactical behavior of swarm robots. Key novel developments to this end includ","authors_text":"Ehsan Esfahani, Hemanth Manjunatha, Mary Corra, Prajit KrisshnaKumar, Souma Chowdhury, Steve Paul","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-24T12:52:17Z","title":"Towards Physically Talented Aerial Robots with Tactically Smart Swarm Behavior thereof: An Efficient Co-design Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.16612","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":"sha256:9b981baa2a3c313013cc747dc2dfca717805f0032079e0f6f40a526a941328ca","target":"record","created_at":"2026-07-05T08:36:01Z","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":"bf7bb2d56e27be8eee10e20e078fe5efa2d6911cf49a7df9a6ca4f0f775267d0","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-24T12:52:17Z","title_canon_sha256":"e57e11fdb5b4fe27e943dcfd533d68dd0338ea6ec7fb7ffb11911737f759eca9"},"schema_version":"1.0","source":{"id":"2406.16612","kind":"arxiv","version":1}},"canonical_sha256":"a963c097802baa393df16bb85f627613ae49605b7c4a13442a350cc633dd39e2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a963c097802baa393df16bb85f627613ae49605b7c4a13442a350cc633dd39e2","first_computed_at":"2026-07-05T08:36:01.372524Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:36:01.372524Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RC0c2xM1Zmwunv0bQ0EQQdtK9IOlrGRIHgeD1V+6MRYH+/jAJ5QcDSFXqVz78m0aogQ7EbCy09q3QhCztjt5Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:36:01.372968Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.16612","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9b981baa2a3c313013cc747dc2dfca717805f0032079e0f6f40a526a941328ca","sha256:8e111b22fb920cbd304e977b0410dc2a50e2ac13eb475d601821097fced2e0ec"],"state_sha256":"7e9c3cc9c01d7894994e8930e973e428ae4729951e521900fda16e5145340b47"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z92xRIs9+cGbRIOHXsmjx7heHjl7cb9XBu0NA6jVR5a6x7qMrqfBPvhFqQd9XOIg/x7Nu9ufPZZapZvyKQ0aCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T21:15:14.518827Z","bundle_sha256":"da3b5a6b5e3bb02ac3586dbdd47532f6dacb536aa1d0467dd3978052b5afae96"}}