{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:YOZSI3FP2FGARKXTQYUJCXFFPW","short_pith_number":"pith:YOZSI3FP","canonical_record":{"source":{"id":"2204.04767","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-10T20:22:30Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"0d749cd1e22d169886689d252e44a1e44732d36f8a265a1d7fc7bbce7a688ec7","abstract_canon_sha256":"96be95f8751f731cc922d639afe4b9404433b8e22413d6960f60757a6a3682b0"},"schema_version":"1.0"},"canonical_sha256":"c3b3246cafd14c08aaf38628915ca57db03903bfe2952288a8793304d58391de","source":{"kind":"arxiv","id":"2204.04767","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.04767","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"arxiv_version","alias_value":"2204.04767v1","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.04767","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_12","alias_value":"YOZSI3FP2FGA","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_16","alias_value":"YOZSI3FP2FGARKXT","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_8","alias_value":"YOZSI3FP","created_at":"2026-07-05T04:13:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:YOZSI3FP2FGARKXTQYUJCXFFPW","target":"record","payload":{"canonical_record":{"source":{"id":"2204.04767","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-10T20:22:30Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"0d749cd1e22d169886689d252e44a1e44732d36f8a265a1d7fc7bbce7a688ec7","abstract_canon_sha256":"96be95f8751f731cc922d639afe4b9404433b8e22413d6960f60757a6a3682b0"},"schema_version":"1.0"},"canonical_sha256":"c3b3246cafd14c08aaf38628915ca57db03903bfe2952288a8793304d58391de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:13:01.393263Z","signature_b64":"fRfQWOaKjjBbAXBNINvaEkwcpl27lEGkL1SzNlIDPcMU+ftb2MOJjpX3sKSlyMPGj2PAKZpW+9BhbnCUOrSbAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c3b3246cafd14c08aaf38628915ca57db03903bfe2952288a8793304d58391de","last_reissued_at":"2026-07-05T04:13:01.392820Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:13:01.392820Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.04767","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":"2026-07-05T04:13:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7v1EccYbP8QgHwBLYd16CNEqfdwXVT2UZbvjr11zvUwjMlViatlcScKCy8jby9C//vn589YyEhvOmGkV/mUvBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:25:44.836203Z"},"content_sha256":"c805484506900de530ebfcde39697311fdf519c9ae908c387468b4f55e4796a6","schema_version":"1.0","event_id":"sha256:c805484506900de530ebfcde39697311fdf519c9ae908c387468b4f55e4796a6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:YOZSI3FP2FGARKXTQYUJCXFFPW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Ahmad Bilal Asghar, Guangyao Shi, James Dotterweich, James Humann, Jean-Paul Reddinger, Nare Karapetyan, Pratap Tokekar","submitted_at":"2022-04-10T20:22:30Z","abstract_excerpt":"We study a chance-constrained variant of the cooperative aerial-ground vehicle routing problem, in which an Unmanned Aerial Vehicle (UAV) with limited battery capacity and an Unmanned Ground Vehicle (UGV) that can also act as a mobile recharging station need to jointly accomplish a mission such as monitoring a set of points. Due to the limited battery capacity of the UAV, two vehicles sometimes have to deviate from their task to rendezvous and recharge the UAV\\@. Unlike prior work that has focused on the deterministic case, we address the challenge of stochastic energy consumption of the UAV\\@"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.04767","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/2204.04767/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":"2026-07-05T04:13:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QSW96F33a9NfWNa9J1DXyfEJ3fxLtB0QJoTF8RZXqaRgLXZB6JIxzHGSIBvZ/nI4ypELKFZxqLKTGh0bz0CWCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:25:44.836608Z"},"content_sha256":"1abb904a78e61816c19b0e35de5b12633e8371022f5a26d85d9c532f656ea732","schema_version":"1.0","event_id":"sha256:1abb904a78e61816c19b0e35de5b12633e8371022f5a26d85d9c532f656ea732"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/bundle.json","state_url":"https://pith.science/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/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":"2026-07-06T23:25:44Z","links":{"resolver":"https://pith.science/pith/YOZSI3FP2FGARKXTQYUJCXFFPW","bundle":"https://pith.science/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/bundle.json","state":"https://pith.science/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YOZSI3FP2FGARKXTQYUJCXFFPW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:YOZSI3FP2FGARKXTQYUJCXFFPW","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":"96be95f8751f731cc922d639afe4b9404433b8e22413d6960f60757a6a3682b0","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-10T20:22:30Z","title_canon_sha256":"0d749cd1e22d169886689d252e44a1e44732d36f8a265a1d7fc7bbce7a688ec7"},"schema_version":"1.0","source":{"id":"2204.04767","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.04767","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"arxiv_version","alias_value":"2204.04767v1","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.04767","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_12","alias_value":"YOZSI3FP2FGA","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_16","alias_value":"YOZSI3FP2FGARKXT","created_at":"2026-07-05T04:13:01Z"},{"alias_kind":"pith_short_8","alias_value":"YOZSI3FP","created_at":"2026-07-05T04:13:01Z"}],"graph_snapshots":[{"event_id":"sha256:1abb904a78e61816c19b0e35de5b12633e8371022f5a26d85d9c532f656ea732","target":"graph","created_at":"2026-07-05T04:13:01Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2204.04767/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We study a chance-constrained variant of the cooperative aerial-ground vehicle routing problem, in which an Unmanned Aerial Vehicle (UAV) with limited battery capacity and an Unmanned Ground Vehicle (UGV) that can also act as a mobile recharging station need to jointly accomplish a mission such as monitoring a set of points. Due to the limited battery capacity of the UAV, two vehicles sometimes have to deviate from their task to rendezvous and recharge the UAV\\@. Unlike prior work that has focused on the deterministic case, we address the challenge of stochastic energy consumption of the UAV\\@","authors_text":"Ahmad Bilal Asghar, Guangyao Shi, James Dotterweich, James Humann, Jean-Paul Reddinger, Nare Karapetyan, Pratap Tokekar","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-10T20:22:30Z","title":"Risk-aware UAV-UGV Rendezvous with Chance-Constrained Markov Decision Process"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.04767","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:c805484506900de530ebfcde39697311fdf519c9ae908c387468b4f55e4796a6","target":"record","created_at":"2026-07-05T04:13:01Z","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":"96be95f8751f731cc922d639afe4b9404433b8e22413d6960f60757a6a3682b0","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-10T20:22:30Z","title_canon_sha256":"0d749cd1e22d169886689d252e44a1e44732d36f8a265a1d7fc7bbce7a688ec7"},"schema_version":"1.0","source":{"id":"2204.04767","kind":"arxiv","version":1}},"canonical_sha256":"c3b3246cafd14c08aaf38628915ca57db03903bfe2952288a8793304d58391de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c3b3246cafd14c08aaf38628915ca57db03903bfe2952288a8793304d58391de","first_computed_at":"2026-07-05T04:13:01.392820Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:13:01.392820Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fRfQWOaKjjBbAXBNINvaEkwcpl27lEGkL1SzNlIDPcMU+ftb2MOJjpX3sKSlyMPGj2PAKZpW+9BhbnCUOrSbAA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:13:01.393263Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.04767","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c805484506900de530ebfcde39697311fdf519c9ae908c387468b4f55e4796a6","sha256:1abb904a78e61816c19b0e35de5b12633e8371022f5a26d85d9c532f656ea732"],"state_sha256":"d2c886f5e5b436934458abbeb2cc886c69445119cc5230618f18573683fc1e99"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"90NzQWPr5nRq/gOOEH4X3B499gzk2bSijcxcYhV9HCp+NdCgcBmBJLDpH0sgyZPsAVugwA7qpeoQcOzv8lQMDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:25:44.838519Z","bundle_sha256":"2b2824c21e4eb27e094ef901ba3c94075d80ee4a43efda99aa22eda0dedb519a"}}