{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:YCTMAWPBVBZGKW7NO3Z2CE7Y6T","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":"3e1864cce4bf2203d6fdfcd8f49efc5d672b374bb89ecb76bfef8e8aed266db3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-07T20:35:33Z","title_canon_sha256":"e33079ecff983682a141f29bbd1b40efc749cf6fa5a8700f5b4ac2f7933e9fb8"},"schema_version":"1.0","source":{"id":"1908.02827","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.02827","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"arxiv_version","alias_value":"1908.02827v1","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.02827","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_12","alias_value":"YCTMAWPBVBZG","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_16","alias_value":"YCTMAWPBVBZGKW7N","created_at":"2026-07-04T23:52:23Z"},{"alias_kind":"pith_short_8","alias_value":"YCTMAWPB","created_at":"2026-07-04T23:52:23Z"}],"graph_snapshots":[{"event_id":"sha256:2b85fa601ba1b8d9dce1001b7a2242ecc1a914fede7c9fd933110d11dd8221f9","target":"graph","created_at":"2026-07-04T23:52:23Z","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/1908.02827/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Environmental monitoring and surveying operations on rivers currently are performed primarily with manually-operated boats. In this domain, autonomous coverage of areas is of vital importance, for improving both the quality and the efficiency of coverage. This paper leverages human expertise in river exploration and data collection strategies to automate and optimize these processes using autonomous surface vehicles(ASVs). In particular, three deterministic algorithms for both partial and complete coverage of a river segment are proposed,providing varying path length, coverage density, and tur","authors_text":"Adam Braude, Ioannis Rekleitis, Jason M. O'Kane, Jason Moulton, Joshua A. Burstein, Nare Karapetyan, Scott White","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-07T20:35:33Z","title":"Riverine Coverage with an Autonomous Surface Vehicle over Known Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.02827","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":"sha256:928714eb0a4aa2c1b9b6c3d4f86d31a145efa16608b55a7a7ebcb0c673b10007","target":"record","created_at":"2026-07-04T23:52:23Z","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":"3e1864cce4bf2203d6fdfcd8f49efc5d672b374bb89ecb76bfef8e8aed266db3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-07T20:35:33Z","title_canon_sha256":"e33079ecff983682a141f29bbd1b40efc749cf6fa5a8700f5b4ac2f7933e9fb8"},"schema_version":"1.0","source":{"id":"1908.02827","kind":"arxiv","version":1}},"canonical_sha256":"c0a6c059e1a872655bed76f3a113f8f4e3cfbd22eb0baf624595dcdead8cee05","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c0a6c059e1a872655bed76f3a113f8f4e3cfbd22eb0baf624595dcdead8cee05","first_computed_at":"2026-07-04T23:52:23.808814Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:52:23.808814Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bFL/C1JyUx1/9VGxTpF+fOLB/sSQR6Ugn9jSkztOJvHiWLJrK0Ym/s69X5ajroNsr20zSBiq4y9ZK5MJvvj4AA==","signature_status":"signed_v1","signed_at":"2026-07-04T23:52:23.809202Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.02827","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:928714eb0a4aa2c1b9b6c3d4f86d31a145efa16608b55a7a7ebcb0c673b10007","sha256:2b85fa601ba1b8d9dce1001b7a2242ecc1a914fede7c9fd933110d11dd8221f9"],"state_sha256":"f46fb7647f29546f09d2682b1fa683ad135b6152aa75e555eb2c65b87093d18c"}