{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:VIAZ2FMHB35CH2PJE7S2MIJQLL","short_pith_number":"pith:VIAZ2FMH","canonical_record":{"source":{"id":"1909.06711","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.MA","submitted_at":"2019-09-15T02:02:22Z","cross_cats_sorted":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"title_canon_sha256":"3f44b3d94109962ae38f533431730431115f27a5bd56334f99529e39be4984ca","abstract_canon_sha256":"6e694eed62565896287730f4fa0aa8921827f5638a4da94aa8cec43465a4977e"},"schema_version":"1.0"},"canonical_sha256":"aa019d15870efa23e9e927e5a621305af5665891c70eff504f8313be689411e6","source":{"kind":"arxiv","id":"1909.06711","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.06711","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"arxiv_version","alias_value":"1909.06711v1","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.06711","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_12","alias_value":"VIAZ2FMHB35C","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_16","alias_value":"VIAZ2FMHB35CH2PJ","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_8","alias_value":"VIAZ2FMH","created_at":"2026-07-05T02:40:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:VIAZ2FMHB35CH2PJE7S2MIJQLL","target":"record","payload":{"canonical_record":{"source":{"id":"1909.06711","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.MA","submitted_at":"2019-09-15T02:02:22Z","cross_cats_sorted":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"title_canon_sha256":"3f44b3d94109962ae38f533431730431115f27a5bd56334f99529e39be4984ca","abstract_canon_sha256":"6e694eed62565896287730f4fa0aa8921827f5638a4da94aa8cec43465a4977e"},"schema_version":"1.0"},"canonical_sha256":"aa019d15870efa23e9e927e5a621305af5665891c70eff504f8313be689411e6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:40:25.702013Z","signature_b64":"029YZ1oM0XafHcFo8TERJxuH+LUN6JveKbiomXyI6TfjsozMV1Y8sqn4RxYiyOxsYS9cie6xTpvpaFhSUSEABQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aa019d15870efa23e9e927e5a621305af5665891c70eff504f8313be689411e6","last_reissued_at":"2026-07-05T02:40:25.701558Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:40:25.701558Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1909.06711","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":"2026-07-05T02:40:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"v9L90e9TksZ6NY1b/I2dAfUJMTOOBHhdn9RDDYIC0mFAnqY5IOHmqf2QebMX25YaWmJR2UVOVcVA+59gFASOAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:44:12.248767Z"},"content_sha256":"e52be0ea0a7864d801a3ff6eea1b165d96ffa90808d78db173b9cc23013af472","schema_version":"1.0","event_id":"sha256:e52be0ea0a7864d801a3ff6eea1b165d96ffa90808d78db173b9cc23013af472"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:VIAZ2FMHB35CH2PJE7S2MIJQLL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cognitive swarming in complex environments with attractor dynamics and oscillatory computing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"primary_cat":"cs.MA","authors_text":"Grace M. Hwang, Joseph D. Monaco, Kechen Zhang, Kevin M. Schultz","submitted_at":"2019-09-15T02:02:22Z","abstract_excerpt":"Neurobiological theories of spatial cognition developed with respect to recording data from relatively small and/or simplistic environments compared to animals' natural habitats. It has been unclear how to extend theoretical models to large or complex spaces. Complementarily, in autonomous systems technology, applications have been growing for distributed control methods that scale to large numbers of low-footprint mobile platforms. Animals and many-robot groups must solve common problems of navigating complex and uncertain environments. Here, we introduce the 'NeuroSwarms' control framework t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.06711","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/1909.06711/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":"2026-07-05T02:40:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JTdNU0reRCuh35Zsj6Az1EESHRUyJuJfVfxDsdp5oVabAet8WpIsW/K45Qt7BoeG0jStKa5SV8qAKTlU8S87BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:44:12.249291Z"},"content_sha256":"3a08de3b8b5b1e71e834ce7df41a016140288f881a1d75a0145d1b6a59edcc89","schema_version":"1.0","event_id":"sha256:3a08de3b8b5b1e71e834ce7df41a016140288f881a1d75a0145d1b6a59edcc89"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/bundle.json","state_url":"https://pith.science/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/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":"2026-08-08T11:44:12Z","links":{"resolver":"https://pith.science/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL","bundle":"https://pith.science/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/bundle.json","state":"https://pith.science/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VIAZ2FMHB35CH2PJE7S2MIJQLL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:VIAZ2FMHB35CH2PJE7S2MIJQLL","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":"6e694eed62565896287730f4fa0aa8921827f5638a4da94aa8cec43465a4977e","cross_cats_sorted":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.MA","submitted_at":"2019-09-15T02:02:22Z","title_canon_sha256":"3f44b3d94109962ae38f533431730431115f27a5bd56334f99529e39be4984ca"},"schema_version":"1.0","source":{"id":"1909.06711","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1909.06711","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"arxiv_version","alias_value":"1909.06711v1","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1909.06711","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_12","alias_value":"VIAZ2FMHB35C","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_16","alias_value":"VIAZ2FMHB35CH2PJ","created_at":"2026-07-05T02:40:25Z"},{"alias_kind":"pith_short_8","alias_value":"VIAZ2FMH","created_at":"2026-07-05T02:40:25Z"}],"graph_snapshots":[{"event_id":"sha256:3a08de3b8b5b1e71e834ce7df41a016140288f881a1d75a0145d1b6a59edcc89","target":"graph","created_at":"2026-07-05T02:40:25Z","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/1909.06711/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Neurobiological theories of spatial cognition developed with respect to recording data from relatively small and/or simplistic environments compared to animals' natural habitats. It has been unclear how to extend theoretical models to large or complex spaces. Complementarily, in autonomous systems technology, applications have been growing for distributed control methods that scale to large numbers of low-footprint mobile platforms. Animals and many-robot groups must solve common problems of navigating complex and uncertain environments. Here, we introduce the 'NeuroSwarms' control framework t","authors_text":"Grace M. Hwang, Joseph D. Monaco, Kechen Zhang, Kevin M. Schultz","cross_cats":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.MA","submitted_at":"2019-09-15T02:02:22Z","title":"Cognitive swarming in complex environments with attractor dynamics and oscillatory computing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1909.06711","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:e52be0ea0a7864d801a3ff6eea1b165d96ffa90808d78db173b9cc23013af472","target":"record","created_at":"2026-07-05T02:40:25Z","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":"6e694eed62565896287730f4fa0aa8921827f5638a4da94aa8cec43465a4977e","cross_cats_sorted":["cs.NE","cs.RO","nlin.AO","q-bio.NC"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.MA","submitted_at":"2019-09-15T02:02:22Z","title_canon_sha256":"3f44b3d94109962ae38f533431730431115f27a5bd56334f99529e39be4984ca"},"schema_version":"1.0","source":{"id":"1909.06711","kind":"arxiv","version":1}},"canonical_sha256":"aa019d15870efa23e9e927e5a621305af5665891c70eff504f8313be689411e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aa019d15870efa23e9e927e5a621305af5665891c70eff504f8313be689411e6","first_computed_at":"2026-07-05T02:40:25.701558Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:40:25.701558Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"029YZ1oM0XafHcFo8TERJxuH+LUN6JveKbiomXyI6TfjsozMV1Y8sqn4RxYiyOxsYS9cie6xTpvpaFhSUSEABQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:40:25.702013Z","signed_message":"canonical_sha256_bytes"},"source_id":"1909.06711","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e52be0ea0a7864d801a3ff6eea1b165d96ffa90808d78db173b9cc23013af472","sha256:3a08de3b8b5b1e71e834ce7df41a016140288f881a1d75a0145d1b6a59edcc89"],"state_sha256":"748ad8302c9f99c579b289ab3196d47a461d84f1c724885c04d5f4541f25444d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RGPeQ0ARpVa5OWPahlYSjJh/wAQWlhF32tcCi6QJ/fHaN2LLpCDE2RxkHXmoAcCW9HkFQbFwC66Hr93ZLY+FDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T11:44:12.253155Z","bundle_sha256":"94c7a098b5d3b1110e331e46397d2d9d93030954b26209c7069b0c1152608f4c"}}