{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:XEJKFPNIKJU2RJQON67F5F5LRD","short_pith_number":"pith:XEJKFPNI","canonical_record":{"source":{"id":"2406.12802","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-18T17:13:50Z","cross_cats_sorted":[],"title_canon_sha256":"86b045b2bd49a8d794eaa305a00d05d16d4043567eff2889bf365664720f2b66","abstract_canon_sha256":"9a7efc9f7346c21991a771483fbee7ecbea83305f6667536121ff1ec4d646427"},"schema_version":"1.0"},"canonical_sha256":"b912a2bda85269a8a60e6fbe5e97ab88f7e8a47496a57ba9480c14c012477d76","source":{"kind":"arxiv","id":"2406.12802","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.12802","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"arxiv_version","alias_value":"2406.12802v1","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.12802","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_12","alias_value":"XEJKFPNIKJU2","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_16","alias_value":"XEJKFPNIKJU2RJQO","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_8","alias_value":"XEJKFPNI","created_at":"2026-07-05T08:33:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:XEJKFPNIKJU2RJQON67F5F5LRD","target":"record","payload":{"canonical_record":{"source":{"id":"2406.12802","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-18T17:13:50Z","cross_cats_sorted":[],"title_canon_sha256":"86b045b2bd49a8d794eaa305a00d05d16d4043567eff2889bf365664720f2b66","abstract_canon_sha256":"9a7efc9f7346c21991a771483fbee7ecbea83305f6667536121ff1ec4d646427"},"schema_version":"1.0"},"canonical_sha256":"b912a2bda85269a8a60e6fbe5e97ab88f7e8a47496a57ba9480c14c012477d76","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:33:51.428890Z","signature_b64":"F1pxOup9nlJc8FA3Es2IRqAw4y8/ezntaFifnrYynC9MsSU9POULetGo5DBgiMR7pHHoVFId9EXWBtvRJYz/BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b912a2bda85269a8a60e6fbe5e97ab88f7e8a47496a57ba9480c14c012477d76","last_reissued_at":"2026-07-05T08:33:51.428535Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:33:51.428535Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.12802","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":"2026-07-05T08:33:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WSw2wQmLmzXJ8W92ZNChpWbopGNgSJ7Nr/KKfoa3zLfV/F7yhaN+OYonN7E7uVfc+thgGIgRZrPwyfuFATWoCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T07:07:01.319461Z"},"content_sha256":"7e6f387de6793a1886ceabdd5cb940d852f43454ff3ef5d72b9d03947e1fcede","schema_version":"1.0","event_id":"sha256:7e6f387de6793a1886ceabdd5cb940d852f43454ff3ef5d72b9d03947e1fcede"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:XEJKFPNIKJU2RJQON67F5F5LRD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Sha Yi, Wenhao Luo, Yanze Zhang, Yiwei Lyu, Yupeng Yang","submitted_at":"2024-06-18T17:13:50Z","abstract_excerpt":"In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes perfect positional information about robots or enforces overly restrictive rigid formation against uncertainty, our method enables robots to preserve Line-of-Sight connectivity with high probability under unbounded Gaussian-like positional noises while remaining minimally intrusive to the original robots' tasks. This is achieved by a motion coordination fram"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.12802","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/2406.12802/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":"2026-07-05T08:33:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IvRgF+jMXEtF5ukiCZsZ5yFVBlgN3zt6CAJ6G0Xw3BR9M6JjKYMhH6Ac5NlB8djOszmRWaYA4wMUISgze5x/AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T07:07:01.320087Z"},"content_sha256":"9031b974428fbdeb5571e9b406a371f995ebcec9c84a2fe0f0a9d26085aa6b01","schema_version":"1.0","event_id":"sha256:9031b974428fbdeb5571e9b406a371f995ebcec9c84a2fe0f0a9d26085aa6b01"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XEJKFPNIKJU2RJQON67F5F5LRD/bundle.json","state_url":"https://pith.science/pith/XEJKFPNIKJU2RJQON67F5F5LRD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XEJKFPNIKJU2RJQON67F5F5LRD/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":"2026-08-10T07:07:01Z","links":{"resolver":"https://pith.science/pith/XEJKFPNIKJU2RJQON67F5F5LRD","bundle":"https://pith.science/pith/XEJKFPNIKJU2RJQON67F5F5LRD/bundle.json","state":"https://pith.science/pith/XEJKFPNIKJU2RJQON67F5F5LRD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XEJKFPNIKJU2RJQON67F5F5LRD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:XEJKFPNIKJU2RJQON67F5F5LRD","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":"9a7efc9f7346c21991a771483fbee7ecbea83305f6667536121ff1ec4d646427","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-18T17:13:50Z","title_canon_sha256":"86b045b2bd49a8d794eaa305a00d05d16d4043567eff2889bf365664720f2b66"},"schema_version":"1.0","source":{"id":"2406.12802","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.12802","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"arxiv_version","alias_value":"2406.12802v1","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.12802","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_12","alias_value":"XEJKFPNIKJU2","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_16","alias_value":"XEJKFPNIKJU2RJQO","created_at":"2026-07-05T08:33:51Z"},{"alias_kind":"pith_short_8","alias_value":"XEJKFPNI","created_at":"2026-07-05T08:33:51Z"}],"graph_snapshots":[{"event_id":"sha256:9031b974428fbdeb5571e9b406a371f995ebcec9c84a2fe0f0a9d26085aa6b01","target":"graph","created_at":"2026-07-05T08:33:51Z","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/2406.12802/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes perfect positional information about robots or enforces overly restrictive rigid formation against uncertainty, our method enables robots to preserve Line-of-Sight connectivity with high probability under unbounded Gaussian-like positional noises while remaining minimally intrusive to the original robots' tasks. This is achieved by a motion coordination fram","authors_text":"Sha Yi, Wenhao Luo, Yanze Zhang, Yiwei Lyu, Yupeng Yang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-18T17:13:50Z","title":"Decentralized Multi-Robot Line-of-Sight Connectivity Maintenance under Uncertainty"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.12802","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":"sha256:7e6f387de6793a1886ceabdd5cb940d852f43454ff3ef5d72b9d03947e1fcede","target":"record","created_at":"2026-07-05T08:33:51Z","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":"9a7efc9f7346c21991a771483fbee7ecbea83305f6667536121ff1ec4d646427","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-18T17:13:50Z","title_canon_sha256":"86b045b2bd49a8d794eaa305a00d05d16d4043567eff2889bf365664720f2b66"},"schema_version":"1.0","source":{"id":"2406.12802","kind":"arxiv","version":1}},"canonical_sha256":"b912a2bda85269a8a60e6fbe5e97ab88f7e8a47496a57ba9480c14c012477d76","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b912a2bda85269a8a60e6fbe5e97ab88f7e8a47496a57ba9480c14c012477d76","first_computed_at":"2026-07-05T08:33:51.428535Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:33:51.428535Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F1pxOup9nlJc8FA3Es2IRqAw4y8/ezntaFifnrYynC9MsSU9POULetGo5DBgiMR7pHHoVFId9EXWBtvRJYz/BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:33:51.428890Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.12802","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e6f387de6793a1886ceabdd5cb940d852f43454ff3ef5d72b9d03947e1fcede","sha256:9031b974428fbdeb5571e9b406a371f995ebcec9c84a2fe0f0a9d26085aa6b01"],"state_sha256":"1f6c7e9e99efd3111d87777b42b63f0c3b4ee0e0843d4d66af119b56d92bf295"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kdbpLOwgo7YJPRdkJhNkB8E2cvfvaw7GS+l5ukJzTY6kaa4VMHeUwU1OY6l2UgU8O8yvsxFE4nzentrEQ0f+Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T07:07:01.324621Z","bundle_sha256":"151606a01b244e74151e63180239dbde7acbc052b2f166c3912a65eda621be98"}}