{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:W4FIDUUAN5AAVCQ54YU2ET7EFY","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":"fea0568c231f2a0d0f7d917e2eaeac80b6f7e246562e5a1e3d4a1ea441536c13","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T15:25:32Z","title_canon_sha256":"04ebaf45870d07998605023ddf424e3ca44d20699fbbcf81e7018f199b235b8a"},"schema_version":"1.0","source":{"id":"2606.10986","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10986","created_at":"2026-06-10T01:11:02Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10986v1","created_at":"2026-06-10T01:11:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10986","created_at":"2026-06-10T01:11:02Z"},{"alias_kind":"pith_short_12","alias_value":"W4FIDUUAN5AA","created_at":"2026-06-10T01:11:02Z"},{"alias_kind":"pith_short_16","alias_value":"W4FIDUUAN5AAVCQ5","created_at":"2026-06-10T01:11:02Z"},{"alias_kind":"pith_short_8","alias_value":"W4FIDUUA","created_at":"2026-06-10T01:11:02Z"}],"graph_snapshots":[{"event_id":"sha256:5d8561bbad9b4c790541712714e5f5463d6d715c090517b3fcd2c1a490fc0aae","target":"graph","created_at":"2026-06-10T01:11:02Z","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/2606.10986/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Unmanned aerial vehicles (UAVs) are increasingly used for active sensing and information gathering in spatially distributed environments. Their performance, however, is constrained by limited flight time, sensing uncertainty, and the trade-off between spatial coverage and observation accuracy. This paper presents a real-world validation of a multi-UAV active sensing framework for probabilistic binary terrain mapping, with precision agriculture used as the application case. The environment is represented as a probabilistic belief map, where spatial dependencies are modeled through a factor-grap","authors_text":"L. Marques, S. Habibi","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T15:25:32Z","title":"Multi-UAV Active Sensing with Information Gain-based Planning and Belief Fusion"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10986","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":"sha256:1fc2c3c9a83cdc4f90901caac75f7f128743124319b8e72b8414bce740be8ce5","target":"record","created_at":"2026-06-10T01:11:02Z","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":"fea0568c231f2a0d0f7d917e2eaeac80b6f7e246562e5a1e3d4a1ea441536c13","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T15:25:32Z","title_canon_sha256":"04ebaf45870d07998605023ddf424e3ca44d20699fbbcf81e7018f199b235b8a"},"schema_version":"1.0","source":{"id":"2606.10986","kind":"arxiv","version":1}},"canonical_sha256":"b70a81d2806f400a8a1de629a24fe42e198dbae3ac636ec67bf6addf33c71c02","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b70a81d2806f400a8a1de629a24fe42e198dbae3ac636ec67bf6addf33c71c02","first_computed_at":"2026-06-10T01:11:02.108349Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T01:11:02.108349Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Jj4MWzvJIdH5gU7Yqt2Dtn9VxZnewOt74RRgC0Ol8uW7Qd3jzQN0Z8+uhwP2dNlfTnO6XK7LrivvubHQil4DAw==","signature_status":"signed_v1","signed_at":"2026-06-10T01:11:02.109406Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.10986","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1fc2c3c9a83cdc4f90901caac75f7f128743124319b8e72b8414bce740be8ce5","sha256:5d8561bbad9b4c790541712714e5f5463d6d715c090517b3fcd2c1a490fc0aae"],"state_sha256":"34f76fd245726bfd8f6ead1bea8da23dd9bd087d21ac004881d64ecd3faf09f0"}