{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:WWYWY5OAXUYLACX3RSX4AKJYJM","short_pith_number":"pith:WWYWY5OA","canonical_record":{"source":{"id":"1801.02478","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2018-01-03T17:23:42Z","cross_cats_sorted":["cs.MA","cs.SY"],"title_canon_sha256":"c13ad36e85b5ef4a3781440233fd66e138ad763645051eae88ec6697a19c7396","abstract_canon_sha256":"63fa5d064670234a0d63e65e6226dd5d6981b8e96c457bedc88e75d62964ffde"},"schema_version":"1.0"},"canonical_sha256":"b5b16c75c0bd30b00afb8cafc029384b280c78710244ca1a40997c966844fc7a","source":{"kind":"arxiv","id":"1801.02478","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.02478","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"arxiv_version","alias_value":"1801.02478v1","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.02478","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"pith_short_12","alias_value":"WWYWY5OAXUYL","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"WWYWY5OAXUYLACX3","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"WWYWY5OA","created_at":"2026-05-18T12:33:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:WWYWY5OAXUYLACX3RSX4AKJYJM","target":"record","payload":{"canonical_record":{"source":{"id":"1801.02478","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2018-01-03T17:23:42Z","cross_cats_sorted":["cs.MA","cs.SY"],"title_canon_sha256":"c13ad36e85b5ef4a3781440233fd66e138ad763645051eae88ec6697a19c7396","abstract_canon_sha256":"63fa5d064670234a0d63e65e6226dd5d6981b8e96c457bedc88e75d62964ffde"},"schema_version":"1.0"},"canonical_sha256":"b5b16c75c0bd30b00afb8cafc029384b280c78710244ca1a40997c966844fc7a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:26:31.438115Z","signature_b64":"HsQZT7WAiU6djPPl/yiqKaxnOxcD8gjqn/e13vhJFejilS6SWG7WFWpz29BeF/l3kioTDJa4nYcisrH8qbfWDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5b16c75c0bd30b00afb8cafc029384b280c78710244ca1a40997c966844fc7a","last_reissued_at":"2026-05-18T00:26:31.437545Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:26:31.437545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1801.02478","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":"2026-05-18T00:26:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TMs9zeFF9mD+vyKUk+VSAXZg8SsJ2tff+ln/3pwdRkcVW798BFgCMfWeZr2Zoo9+JJciWYFKdXg1CQw7meUrAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T05:43:09.208856Z"},"content_sha256":"34dc419430c0fa3a25d1d652b34acf81702d145f61a4a7785bd62ebc436d689e","schema_version":"1.0","event_id":"sha256:34dc419430c0fa3a25d1d652b34acf81702d145f61a4a7785bd62ebc436d689e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:WWYWY5OAXUYLACX3RSX4AKJYJM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Autonomous Tracking of Intermittent RF Source Using a UAV Swarm","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.SY"],"primary_cat":"eess.SP","authors_text":"Farshad Koohifar, Ismail Guvenc, Mihail L. Sichitiu","submitted_at":"2018-01-03T17:23:42Z","abstract_excerpt":"Localization of a radio frequency (RF) transmitter with intermittent transmissions is considered via a group of unmanned aerial vehicles (UAVs) equipped with omnidirectional received signal strength (RSS) sensors. This group embarks on an autonomous patrol to localize and track the target with a specified accuracy, as quickly as possible. The challenge can be decomposed into two stages: 1) estimation of the target position given previous measurements (localization), and 2) planning the future trajectory of the tracking UAVs to get lower expected localization error given current estimation (pat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.02478","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":""},"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":"2026-05-18T00:26:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6J5YPawn8ivFaC9DvJJZpiKWB4DMYiZofuMg1/Cxnbe644nJARf9Clgb7v4rPDjWQhwDoEoNCW42XUHObo2nCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T05:43:09.209198Z"},"content_sha256":"a13396ef0fc96f6fc809edc90119093df24c0c1f63b86f70e5bf7d9fb3c063eb","schema_version":"1.0","event_id":"sha256:a13396ef0fc96f6fc809edc90119093df24c0c1f63b86f70e5bf7d9fb3c063eb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/bundle.json","state_url":"https://pith.science/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/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":"2026-06-07T05:43:09Z","links":{"resolver":"https://pith.science/pith/WWYWY5OAXUYLACX3RSX4AKJYJM","bundle":"https://pith.science/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/bundle.json","state":"https://pith.science/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WWYWY5OAXUYLACX3RSX4AKJYJM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:WWYWY5OAXUYLACX3RSX4AKJYJM","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":"63fa5d064670234a0d63e65e6226dd5d6981b8e96c457bedc88e75d62964ffde","cross_cats_sorted":["cs.MA","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2018-01-03T17:23:42Z","title_canon_sha256":"c13ad36e85b5ef4a3781440233fd66e138ad763645051eae88ec6697a19c7396"},"schema_version":"1.0","source":{"id":"1801.02478","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.02478","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"arxiv_version","alias_value":"1801.02478v1","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.02478","created_at":"2026-05-18T00:26:31Z"},{"alias_kind":"pith_short_12","alias_value":"WWYWY5OAXUYL","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"WWYWY5OAXUYLACX3","created_at":"2026-05-18T12:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"WWYWY5OA","created_at":"2026-05-18T12:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:a13396ef0fc96f6fc809edc90119093df24c0c1f63b86f70e5bf7d9fb3c063eb","target":"graph","created_at":"2026-05-18T00:26:31Z","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"},"paper":{"abstract_excerpt":"Localization of a radio frequency (RF) transmitter with intermittent transmissions is considered via a group of unmanned aerial vehicles (UAVs) equipped with omnidirectional received signal strength (RSS) sensors. This group embarks on an autonomous patrol to localize and track the target with a specified accuracy, as quickly as possible. The challenge can be decomposed into two stages: 1) estimation of the target position given previous measurements (localization), and 2) planning the future trajectory of the tracking UAVs to get lower expected localization error given current estimation (pat","authors_text":"Farshad Koohifar, Ismail Guvenc, Mihail L. Sichitiu","cross_cats":["cs.MA","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2018-01-03T17:23:42Z","title":"Autonomous Tracking of Intermittent RF Source Using a UAV Swarm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.02478","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":"sha256:34dc419430c0fa3a25d1d652b34acf81702d145f61a4a7785bd62ebc436d689e","target":"record","created_at":"2026-05-18T00:26:31Z","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":"63fa5d064670234a0d63e65e6226dd5d6981b8e96c457bedc88e75d62964ffde","cross_cats_sorted":["cs.MA","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2018-01-03T17:23:42Z","title_canon_sha256":"c13ad36e85b5ef4a3781440233fd66e138ad763645051eae88ec6697a19c7396"},"schema_version":"1.0","source":{"id":"1801.02478","kind":"arxiv","version":1}},"canonical_sha256":"b5b16c75c0bd30b00afb8cafc029384b280c78710244ca1a40997c966844fc7a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b5b16c75c0bd30b00afb8cafc029384b280c78710244ca1a40997c966844fc7a","first_computed_at":"2026-05-18T00:26:31.437545Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:26:31.437545Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HsQZT7WAiU6djPPl/yiqKaxnOxcD8gjqn/e13vhJFejilS6SWG7WFWpz29BeF/l3kioTDJa4nYcisrH8qbfWDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:26:31.438115Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.02478","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:34dc419430c0fa3a25d1d652b34acf81702d145f61a4a7785bd62ebc436d689e","sha256:a13396ef0fc96f6fc809edc90119093df24c0c1f63b86f70e5bf7d9fb3c063eb"],"state_sha256":"17dcd6eca58c7e35af6726b57a4e0e4c71af7b77bacc6b67ff99a29939bc9d42"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x278xfQ4qRDswSJouKy+XYoO+r4KkkBig6bYX/Ipe9PmhV14pyijXkDiL67FHe7kgMfrUAbHqXhdbZphhUHlAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T05:43:09.211198Z","bundle_sha256":"7697df88da41e3ce78c7f08534408a3a5da884b04040b7f3e1cac3e24c988672"}}