{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:Y2XRQS3OBHBEZLEXRCK3QLQUSQ","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":"bf8a6b517524995605f59b0f4322a55ffe7af61a44f46a27ee6f321a695edd3f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T11:53:03Z","title_canon_sha256":"ea4729e161f163555b0b2fec38eab0bf56d7f43fe98081487da1d1e25f9ad154"},"schema_version":"1.0","source":{"id":"1903.04856","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.04856","created_at":"2026-05-17T23:46:09Z"},{"alias_kind":"arxiv_version","alias_value":"1903.04856v2","created_at":"2026-05-17T23:46:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.04856","created_at":"2026-05-17T23:46:09Z"},{"alias_kind":"pith_short_12","alias_value":"Y2XRQS3OBHBE","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"Y2XRQS3OBHBEZLEX","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"Y2XRQS3O","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:35b8681dc6209d54b2a1c9156f2d67bbfac0d1f984e8a112367baf19676d3f69","target":"graph","created_at":"2026-05-17T23:46:09Z","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":"We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these pooled resources. In our model, a resource on a particular robot becomes unavailable e.g., a sensor ceases to function due to a failure), the system reconfigures so that the robot continues to have to this resource by communicating with other robots. Specifically, we consider the problem of selecting edges to be in the system's communication graph after a resour","authors_text":"Gaurav S. Sukhatme, James A. Preiss, Ragesh K. Ramachandran","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T11:53:03Z","title":"Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.04856","kind":"arxiv","version":2},"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":"sha256:51e00e41a3520039a49cef38388ae3ae43d606eacd0b0da1570b880fc9572d3f","target":"record","created_at":"2026-05-17T23:46:09Z","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":"bf8a6b517524995605f59b0f4322a55ffe7af61a44f46a27ee6f321a695edd3f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T11:53:03Z","title_canon_sha256":"ea4729e161f163555b0b2fec38eab0bf56d7f43fe98081487da1d1e25f9ad154"},"schema_version":"1.0","source":{"id":"1903.04856","kind":"arxiv","version":2}},"canonical_sha256":"c6af184b6e09c24cac978895b82e1494199dd75fc2903ab9a4325e587f47a4a0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6af184b6e09c24cac978895b82e1494199dd75fc2903ab9a4325e587f47a4a0","first_computed_at":"2026-05-17T23:46:09.016951Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:46:09.016951Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Fj6VNJYoomTCzBV4UtfU/ootzvN+w7S+f8RggEskbGT2EoovErTEBAd41ec/9JhyrmoTH88lBK2HIU3yJ1DiBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:46:09.017487Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.04856","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:51e00e41a3520039a49cef38388ae3ae43d606eacd0b0da1570b880fc9572d3f","sha256:35b8681dc6209d54b2a1c9156f2d67bbfac0d1f984e8a112367baf19676d3f69"],"state_sha256":"e901406b7e0593071d6ee04012d7a209262b0efabac176486bfd744a59765783"}