{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:YX3BTFU3COEW4NBN3U6XB66DBH","short_pith_number":"pith:YX3BTFU3","canonical_record":{"source":{"id":"1210.3438","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-12T06:43:17Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"d97426d68928d3fa033d293c8e1fc69161a4f67184403630288ad6f92e96e39b","abstract_canon_sha256":"be164a8c5f9e2fdc0fae584cb54f73c6b6eb63b09294d89362a00ad75ee6c0e3"},"schema_version":"1.0"},"canonical_sha256":"c5f619969b13896e342ddd3d70fbc309fd2cd1944ef73b9dcf2b845bd53dbadc","source":{"kind":"arxiv","id":"1210.3438","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1210.3438","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"arxiv_version","alias_value":"1210.3438v1","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1210.3438","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"pith_short_12","alias_value":"YX3BTFU3COEW","created_at":"2026-05-18T12:27:30Z"},{"alias_kind":"pith_short_16","alias_value":"YX3BTFU3COEW4NBN","created_at":"2026-05-18T12:27:30Z"},{"alias_kind":"pith_short_8","alias_value":"YX3BTFU3","created_at":"2026-05-18T12:27:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:YX3BTFU3COEW4NBN3U6XB66DBH","target":"record","payload":{"canonical_record":{"source":{"id":"1210.3438","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-12T06:43:17Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"d97426d68928d3fa033d293c8e1fc69161a4f67184403630288ad6f92e96e39b","abstract_canon_sha256":"be164a8c5f9e2fdc0fae584cb54f73c6b6eb63b09294d89362a00ad75ee6c0e3"},"schema_version":"1.0"},"canonical_sha256":"c5f619969b13896e342ddd3d70fbc309fd2cd1944ef73b9dcf2b845bd53dbadc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:43:19.859063Z","signature_b64":"INH2+WgdLrVvTw9RA4UvfEHr3w49caOveYA+6lhU/itr9D/0EJD3ugVLwcNl1f6Zn5sTQVJudouI+SgeHaoLCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c5f619969b13896e342ddd3d70fbc309fd2cd1944ef73b9dcf2b845bd53dbadc","last_reissued_at":"2026-05-18T03:43:19.858382Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:43:19.858382Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1210.3438","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":"2026-05-18T03:43:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3FVIQJQ4s0T7CW54CmjfGXQ5g4UD1gP++wtQLtjGc21l6Akg35qV1PCrvILIqBWMKlMurrYezSHLx7FGhlfKDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T13:22:10.647767Z"},"content_sha256":"11b7dbaf905f6a702ebca72399eb91e53b2f0e1b4df06889cb9e4c016d7b3672","schema_version":"1.0","event_id":"sha256:11b7dbaf905f6a702ebca72399eb91e53b2f0e1b4df06889cb9e4c016d7b3672"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:YX3BTFU3COEW4NBN3U6XB66DBH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Stochastic Surveillance Strategies for Spatial Quickest Detection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Fabio Pasqualetti, Francesco Bullo, Vaibhav Srivastava","submitted_at":"2012-10-12T06:43:17Z","abstract_excerpt":"We design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations, which a control center processes. The overall objective is to minimize detection delay while maintaining the false alarm rate below a desired threshold. We present joint (i) anomaly detection algorithms for the control center and (ii) vehicle routing policies. For the control center, we propose parallel cumulative sum (CUSUM) algorithms (one for each region"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1210.3438","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":""},"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":"2026-05-18T03:43:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R0a27usIEVRcxxbq53UhFKGkcjcxViHFkOE+D1890CUQBkF5GjxNuhJrKhb6/ih9kyEzi8CFlNsXo1/uGsVlCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T13:22:10.648378Z"},"content_sha256":"32c4774a22090663cea9d7c063bcbd12d457f752e2ec87a96826a43b9f4a6982","schema_version":"1.0","event_id":"sha256:32c4774a22090663cea9d7c063bcbd12d457f752e2ec87a96826a43b9f4a6982"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YX3BTFU3COEW4NBN3U6XB66DBH/bundle.json","state_url":"https://pith.science/pith/YX3BTFU3COEW4NBN3U6XB66DBH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YX3BTFU3COEW4NBN3U6XB66DBH/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":"2026-06-06T13:22:10Z","links":{"resolver":"https://pith.science/pith/YX3BTFU3COEW4NBN3U6XB66DBH","bundle":"https://pith.science/pith/YX3BTFU3COEW4NBN3U6XB66DBH/bundle.json","state":"https://pith.science/pith/YX3BTFU3COEW4NBN3U6XB66DBH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YX3BTFU3COEW4NBN3U6XB66DBH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:YX3BTFU3COEW4NBN3U6XB66DBH","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":"be164a8c5f9e2fdc0fae584cb54f73c6b6eb63b09294d89362a00ad75ee6c0e3","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-12T06:43:17Z","title_canon_sha256":"d97426d68928d3fa033d293c8e1fc69161a4f67184403630288ad6f92e96e39b"},"schema_version":"1.0","source":{"id":"1210.3438","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1210.3438","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"arxiv_version","alias_value":"1210.3438v1","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1210.3438","created_at":"2026-05-18T03:43:19Z"},{"alias_kind":"pith_short_12","alias_value":"YX3BTFU3COEW","created_at":"2026-05-18T12:27:30Z"},{"alias_kind":"pith_short_16","alias_value":"YX3BTFU3COEW4NBN","created_at":"2026-05-18T12:27:30Z"},{"alias_kind":"pith_short_8","alias_value":"YX3BTFU3","created_at":"2026-05-18T12:27:30Z"}],"graph_snapshots":[{"event_id":"sha256:32c4774a22090663cea9d7c063bcbd12d457f752e2ec87a96826a43b9f4a6982","target":"graph","created_at":"2026-05-18T03:43:19Z","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 design persistent surveillance strategies for the quickest detection of anomalies taking place in an environment of interest. From a set of predefined regions in the environment, a team of autonomous vehicles collects noisy observations, which a control center processes. The overall objective is to minimize detection delay while maintaining the false alarm rate below a desired threshold. We present joint (i) anomaly detection algorithms for the control center and (ii) vehicle routing policies. For the control center, we propose parallel cumulative sum (CUSUM) algorithms (one for each region","authors_text":"Fabio Pasqualetti, Francesco Bullo, Vaibhav Srivastava","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-12T06:43:17Z","title":"Stochastic Surveillance Strategies for Spatial Quickest Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1210.3438","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":"sha256:11b7dbaf905f6a702ebca72399eb91e53b2f0e1b4df06889cb9e4c016d7b3672","target":"record","created_at":"2026-05-18T03:43:19Z","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":"be164a8c5f9e2fdc0fae584cb54f73c6b6eb63b09294d89362a00ad75ee6c0e3","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-12T06:43:17Z","title_canon_sha256":"d97426d68928d3fa033d293c8e1fc69161a4f67184403630288ad6f92e96e39b"},"schema_version":"1.0","source":{"id":"1210.3438","kind":"arxiv","version":1}},"canonical_sha256":"c5f619969b13896e342ddd3d70fbc309fd2cd1944ef73b9dcf2b845bd53dbadc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c5f619969b13896e342ddd3d70fbc309fd2cd1944ef73b9dcf2b845bd53dbadc","first_computed_at":"2026-05-18T03:43:19.858382Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:43:19.858382Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"INH2+WgdLrVvTw9RA4UvfEHr3w49caOveYA+6lhU/itr9D/0EJD3ugVLwcNl1f6Zn5sTQVJudouI+SgeHaoLCA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:43:19.859063Z","signed_message":"canonical_sha256_bytes"},"source_id":"1210.3438","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:11b7dbaf905f6a702ebca72399eb91e53b2f0e1b4df06889cb9e4c016d7b3672","sha256:32c4774a22090663cea9d7c063bcbd12d457f752e2ec87a96826a43b9f4a6982"],"state_sha256":"014bd4e8d3b0a56b1916e81f5503e9d417bf5dab0155264cc88b45f7e2a616d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yhsXM7DTgHKgYLIqtslvp0WNsW93XThjF5OAsutjKmk1H/ZT8spfh9BHImWGZQqoS37VC49pZKubOK2o73TkAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T13:22:10.651273Z","bundle_sha256":"f3178bedfc4a55a910043d4c81db014dfa9e99a84fd43825eaca7f5f937311a4"}}