{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YA2XPKYOTUSGJ3QJ3AHTKGZU23","short_pith_number":"pith:YA2XPKYO","canonical_record":{"source":{"id":"2510.18766","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-10-21T16:14:03Z","cross_cats_sorted":[],"title_canon_sha256":"570a88c64467461962e039d972ab4ccde33a8b8b7aecac3a9c3bf9b2d2ca3871","abstract_canon_sha256":"7815a99a1b87ec5b1609585c9e87b67469d4c20e3f2acd69f906b6fac9376c21"},"schema_version":"1.0"},"canonical_sha256":"c03577ab0e9d2464ee09d80f351b34d6d87e26b8152338489eb5bf6fee0a68c2","source":{"kind":"arxiv","id":"2510.18766","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.18766","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"arxiv_version","alias_value":"2510.18766v2","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.18766","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"pith_short_12","alias_value":"YA2XPKYOTUSG","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_16","alias_value":"YA2XPKYOTUSGJ3QJ","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_8","alias_value":"YA2XPKYO","created_at":"2026-05-18T12:33:37Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YA2XPKYOTUSGJ3QJ3AHTKGZU23","target":"record","payload":{"canonical_record":{"source":{"id":"2510.18766","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-10-21T16:14:03Z","cross_cats_sorted":[],"title_canon_sha256":"570a88c64467461962e039d972ab4ccde33a8b8b7aecac3a9c3bf9b2d2ca3871","abstract_canon_sha256":"7815a99a1b87ec5b1609585c9e87b67469d4c20e3f2acd69f906b6fac9376c21"},"schema_version":"1.0"},"canonical_sha256":"c03577ab0e9d2464ee09d80f351b34d6d87e26b8152338489eb5bf6fee0a68c2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:39:01.006895Z","signature_b64":"Twptao24s2kHD7P3aI8zHZERfGPwLam0rD7lzPiKaXO9jo/dKupMYhtTtnKZF08DvznmCTr1jfHF3IcxC1LDAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c03577ab0e9d2464ee09d80f351b34d6d87e26b8152338489eb5bf6fee0a68c2","last_reissued_at":"2026-05-17T23:39:01.006188Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:39:01.006188Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2510.18766","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:39:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LHjJvLbfx1JvYB9zn5+vI3R7jLYEIpnOnjZzmjvZsLv7LtzQ0GZVHhtBEJV4u4A18VdFy/waOUKg9wkK4vIoDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T04:37:22.529074Z"},"content_sha256":"eb2de05e4af50ebf461f6af99ac2bb8ddd4e5d20843cff5caf950b5c644cdf7c","schema_version":"1.0","event_id":"sha256:eb2de05e4af50ebf461f6af99ac2bb8ddd4e5d20843cff5caf950b5c644cdf7c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YA2XPKYOTUSGJ3QJ3AHTKGZU23","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sharing the Load: Autonomous Multi-Rover Cargo Transport","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexander Krawciw, Faizan Rehmatullah, Luka Antonyshyn, Maxime Desjardins-Goulet, Nicolas Olmedo, Pascal Toupin, Sven Lilge, Timothy D. Barfoot","submitted_at":"2025-10-21T16:14:03Z","abstract_excerpt":"A future lunar habitat, as part of the Artemis program, will require a significant amount of logistics infrastructure. Cargo that is transported to the Moon will need to be moved from a landing site to other key locations that may be up to 5 km away. Teach and repeat navigation is well suited to this task as utility rovers will need to repeat these cargo routes many times. One of the most significant challenges involves the modules that will be assembled together to form the habitat. Canada is studying potential Lunar Utility Vehicle (LUV) designs to carry these large payloads between the land"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.18766","kind":"arxiv","version":2},"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":"2026-05-17T23:39:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ha/DvGKo3QIe5xHRpe/L1sHMt2FG1Prwt8T8hCiZzz2X4bdrlpsjhYi75R0F4VQ8O6e75n9dlQuV2hlMMFlKBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T04:37:22.529513Z"},"content_sha256":"c71c0a3891ca5ac513e7530c3632fa5fb0cbb169364ffa518c3745257e9758bf","schema_version":"1.0","event_id":"sha256:c71c0a3891ca5ac513e7530c3632fa5fb0cbb169364ffa518c3745257e9758bf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/bundle.json","state_url":"https://pith.science/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/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":"2026-05-21T04:37:22Z","links":{"resolver":"https://pith.science/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23","bundle":"https://pith.science/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/bundle.json","state":"https://pith.science/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YA2XPKYOTUSGJ3QJ3AHTKGZU23/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YA2XPKYOTUSGJ3QJ3AHTKGZU23","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":"7815a99a1b87ec5b1609585c9e87b67469d4c20e3f2acd69f906b6fac9376c21","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-10-21T16:14:03Z","title_canon_sha256":"570a88c64467461962e039d972ab4ccde33a8b8b7aecac3a9c3bf9b2d2ca3871"},"schema_version":"1.0","source":{"id":"2510.18766","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.18766","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"arxiv_version","alias_value":"2510.18766v2","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.18766","created_at":"2026-05-17T23:39:01Z"},{"alias_kind":"pith_short_12","alias_value":"YA2XPKYOTUSG","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_16","alias_value":"YA2XPKYOTUSGJ3QJ","created_at":"2026-05-18T12:33:37Z"},{"alias_kind":"pith_short_8","alias_value":"YA2XPKYO","created_at":"2026-05-18T12:33:37Z"}],"graph_snapshots":[{"event_id":"sha256:c71c0a3891ca5ac513e7530c3632fa5fb0cbb169364ffa518c3745257e9758bf","target":"graph","created_at":"2026-05-17T23:39:01Z","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":"A future lunar habitat, as part of the Artemis program, will require a significant amount of logistics infrastructure. Cargo that is transported to the Moon will need to be moved from a landing site to other key locations that may be up to 5 km away. Teach and repeat navigation is well suited to this task as utility rovers will need to repeat these cargo routes many times. One of the most significant challenges involves the modules that will be assembled together to form the habitat. Canada is studying potential Lunar Utility Vehicle (LUV) designs to carry these large payloads between the land","authors_text":"Alexander Krawciw, Faizan Rehmatullah, Luka Antonyshyn, Maxime Desjardins-Goulet, Nicolas Olmedo, Pascal Toupin, Sven Lilge, Timothy D. Barfoot","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-10-21T16:14:03Z","title":"Sharing the Load: Autonomous Multi-Rover Cargo Transport"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.18766","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:eb2de05e4af50ebf461f6af99ac2bb8ddd4e5d20843cff5caf950b5c644cdf7c","target":"record","created_at":"2026-05-17T23:39:01Z","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":"7815a99a1b87ec5b1609585c9e87b67469d4c20e3f2acd69f906b6fac9376c21","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-10-21T16:14:03Z","title_canon_sha256":"570a88c64467461962e039d972ab4ccde33a8b8b7aecac3a9c3bf9b2d2ca3871"},"schema_version":"1.0","source":{"id":"2510.18766","kind":"arxiv","version":2}},"canonical_sha256":"c03577ab0e9d2464ee09d80f351b34d6d87e26b8152338489eb5bf6fee0a68c2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c03577ab0e9d2464ee09d80f351b34d6d87e26b8152338489eb5bf6fee0a68c2","first_computed_at":"2026-05-17T23:39:01.006188Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:39:01.006188Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Twptao24s2kHD7P3aI8zHZERfGPwLam0rD7lzPiKaXO9jo/dKupMYhtTtnKZF08DvznmCTr1jfHF3IcxC1LDAQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:39:01.006895Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.18766","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eb2de05e4af50ebf461f6af99ac2bb8ddd4e5d20843cff5caf950b5c644cdf7c","sha256:c71c0a3891ca5ac513e7530c3632fa5fb0cbb169364ffa518c3745257e9758bf"],"state_sha256":"d0493bce360ef6803692fb0c205a6e0ccb90317635934d35b5d9917f4e93d46b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6ynazStpSPkYnylpL1Zg32rzZ7YZFENuEJ6Rtf93I7wmKca5Y0d5luPQqm+QEmjHraiQL8ehjJwg7/eKJU6sDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-21T04:37:22.532193Z","bundle_sha256":"c6a106d4470865c05b5f1a9234b93f743e7270929f8866d56adb95eed4ae236e"}}