{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:XBTCQJOX5CH4HUX6NDM23XMR7H","short_pith_number":"pith:XBTCQJOX","canonical_record":{"source":{"id":"2507.02708","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-03T15:24:54Z","cross_cats_sorted":[],"title_canon_sha256":"2329d53a0a76d303ae9d7ccb76172967858c703a8d29f1bef2feb5f5e4233355","abstract_canon_sha256":"cc8bf601403bbe140babf9494335ade9c43d0aaa57f3f664b18ca72097be6bc4"},"schema_version":"1.0"},"canonical_sha256":"b8662825d7e88fc3d2fe68d9addd91f9eee74373d24479925a5dc48d1b12777c","source":{"kind":"arxiv","id":"2507.02708","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.02708","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"arxiv_version","alias_value":"2507.02708v3","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.02708","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_12","alias_value":"XBTCQJOX5CH4","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_16","alias_value":"XBTCQJOX5CH4HUX6","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_8","alias_value":"XBTCQJOX","created_at":"2026-07-05T11:45:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:XBTCQJOX5CH4HUX6NDM23XMR7H","target":"record","payload":{"canonical_record":{"source":{"id":"2507.02708","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-03T15:24:54Z","cross_cats_sorted":[],"title_canon_sha256":"2329d53a0a76d303ae9d7ccb76172967858c703a8d29f1bef2feb5f5e4233355","abstract_canon_sha256":"cc8bf601403bbe140babf9494335ade9c43d0aaa57f3f664b18ca72097be6bc4"},"schema_version":"1.0"},"canonical_sha256":"b8662825d7e88fc3d2fe68d9addd91f9eee74373d24479925a5dc48d1b12777c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:45:59.090403Z","signature_b64":"dopZYk4m5A0j68xY5ln+bcEzrq34XyDizjR4ZF8mNmYI2KluxSHfBP902BTu9dtra+QkUHf5l/EiYeCPnVRaAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b8662825d7e88fc3d2fe68d9addd91f9eee74373d24479925a5dc48d1b12777c","last_reissued_at":"2026-07-05T11:45:59.089903Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:45:59.089903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.02708","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:45:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WTcjpiesOIqnEjXooQSUWVL0hGzk4ump0gtKVtzHODEAOWJVbqFMZZwCcn1PU6LWJF9pItGk4VDPXpq+5zSWDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T15:37:26.270512Z"},"content_sha256":"26d41101d130881aaf37cbc34573df6a2d730f7d2919d72cdfe31cd7dda7b4d5","schema_version":"1.0","event_id":"sha256:26d41101d130881aaf37cbc34573df6a2d730f7d2919d72cdfe31cd7dda7b4d5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:XBTCQJOX5CH4HUX6NDM23XMR7H","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Optimizing Start Locations in Ergodic Search for Disaster Response","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alyssa Hargis, Ananya Rao, David Wettergreen, Howie Choset","submitted_at":"2025-07-03T15:24:54Z","abstract_excerpt":"In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where to start robot deployments has not been addressed. This work addresses the problem of optimally selecting starting locations for robots with heterogeneous capabilities by formulating a joint optimization problem. To determine start locations, this work adds a constraint to the ergodic optimization framework whose minimum assigns robots to start locations. T"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.02708","kind":"arxiv","version":3},"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/2507.02708/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":"2026-07-05T11:45:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Krp91nAIFyvuXaR97pq1Y5lMHZq69axYTHpuheinHMMPMT+ATIxSl10aH4HDWHpBtj3wl9ifTzc4qnjt62ZWBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T15:37:26.271091Z"},"content_sha256":"a4b9e6b6a6089550fb60e1379854fa5e35d54e8a3cf20e3adda9d5f10a9cb4c4","schema_version":"1.0","event_id":"sha256:a4b9e6b6a6089550fb60e1379854fa5e35d54e8a3cf20e3adda9d5f10a9cb4c4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/bundle.json","state_url":"https://pith.science/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/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":"2026-08-10T15:37:26Z","links":{"resolver":"https://pith.science/pith/XBTCQJOX5CH4HUX6NDM23XMR7H","bundle":"https://pith.science/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/bundle.json","state":"https://pith.science/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XBTCQJOX5CH4HUX6NDM23XMR7H/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:XBTCQJOX5CH4HUX6NDM23XMR7H","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":"cc8bf601403bbe140babf9494335ade9c43d0aaa57f3f664b18ca72097be6bc4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-03T15:24:54Z","title_canon_sha256":"2329d53a0a76d303ae9d7ccb76172967858c703a8d29f1bef2feb5f5e4233355"},"schema_version":"1.0","source":{"id":"2507.02708","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.02708","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"arxiv_version","alias_value":"2507.02708v3","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.02708","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_12","alias_value":"XBTCQJOX5CH4","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_16","alias_value":"XBTCQJOX5CH4HUX6","created_at":"2026-07-05T11:45:59Z"},{"alias_kind":"pith_short_8","alias_value":"XBTCQJOX","created_at":"2026-07-05T11:45:59Z"}],"graph_snapshots":[{"event_id":"sha256:a4b9e6b6a6089550fb60e1379854fa5e35d54e8a3cf20e3adda9d5f10a9cb4c4","target":"graph","created_at":"2026-07-05T11:45:59Z","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/2507.02708/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In disaster response scenarios, deploying robotic teams effectively is crucial for improving situational awareness and enhancing search and rescue operations. The use of robots in search and rescue has been studied but the question of where to start robot deployments has not been addressed. This work addresses the problem of optimally selecting starting locations for robots with heterogeneous capabilities by formulating a joint optimization problem. To determine start locations, this work adds a constraint to the ergodic optimization framework whose minimum assigns robots to start locations. T","authors_text":"Alyssa Hargis, Ananya Rao, David Wettergreen, Howie Choset","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-03T15:24:54Z","title":"Optimizing Start Locations in Ergodic Search for Disaster Response"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.02708","kind":"arxiv","version":3},"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":"sha256:26d41101d130881aaf37cbc34573df6a2d730f7d2919d72cdfe31cd7dda7b4d5","target":"record","created_at":"2026-07-05T11:45:59Z","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":"cc8bf601403bbe140babf9494335ade9c43d0aaa57f3f664b18ca72097be6bc4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-03T15:24:54Z","title_canon_sha256":"2329d53a0a76d303ae9d7ccb76172967858c703a8d29f1bef2feb5f5e4233355"},"schema_version":"1.0","source":{"id":"2507.02708","kind":"arxiv","version":3}},"canonical_sha256":"b8662825d7e88fc3d2fe68d9addd91f9eee74373d24479925a5dc48d1b12777c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b8662825d7e88fc3d2fe68d9addd91f9eee74373d24479925a5dc48d1b12777c","first_computed_at":"2026-07-05T11:45:59.089903Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:45:59.089903Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dopZYk4m5A0j68xY5ln+bcEzrq34XyDizjR4ZF8mNmYI2KluxSHfBP902BTu9dtra+QkUHf5l/EiYeCPnVRaAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:45:59.090403Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.02708","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:26d41101d130881aaf37cbc34573df6a2d730f7d2919d72cdfe31cd7dda7b4d5","sha256:a4b9e6b6a6089550fb60e1379854fa5e35d54e8a3cf20e3adda9d5f10a9cb4c4"],"state_sha256":"ed310702f486bb106014658a6f3c73296e352a9081cdb77b09e3eb1b3fc5254f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PqKjYEwcfrSxKAcHjXDnXEuStByvVCS0EVCJBnW7y+JHXRPSupeikufadGLHUmfb+/ZRpFKEauDJm5hLLlv8Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T15:37:26.275265Z","bundle_sha256":"1da74b7e9d04854fb1f03726eb9706a912d4fcae4db63f95b7a05e501fa34afb"}}