{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:AIUYVFZEJI6DSP5USPHJN23GKK","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":"8168cdafe0be56d219bf256a15d9cae6b8d42177db84debf27dcf0faae48e4a7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-13T07:04:23Z","title_canon_sha256":"b1e296b58f1a86351e1d164deaf5bee67b3cc9b919add5e1266a05dc994d46cd"},"schema_version":"1.0","source":{"id":"1701.03573","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1701.03573","created_at":"2026-05-18T00:42:19Z"},{"alias_kind":"arxiv_version","alias_value":"1701.03573v1","created_at":"2026-05-18T00:42:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1701.03573","created_at":"2026-05-18T00:42:19Z"},{"alias_kind":"pith_short_12","alias_value":"AIUYVFZEJI6D","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_16","alias_value":"AIUYVFZEJI6DSP5U","created_at":"2026-05-18T12:31:05Z"},{"alias_kind":"pith_short_8","alias_value":"AIUYVFZE","created_at":"2026-05-18T12:31:05Z"}],"graph_snapshots":[{"event_id":"sha256:848010e3ccba78bfb882221cd933ad1dd0d7099ab9fc922b08bb15e05848469a","target":"graph","created_at":"2026-05-18T00:42:19Z","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":"This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype system, its capabilities, and highlight the importance of high-performance control, estimation and planning algorithms for achieving desired construction goals. Next, we detail on two architectural application scenarios: first, building a full-size undulating brick wall, which required a number of repositioning and autonomous localisation manoeuvres. Second, the Mesh Mould concrete process, which shows that an In si","authors_text":"Fabio Gramazio, Gonzalo Rey, Ian Brooks, Jonas Buchli, Kathrin D\\\"orfler, Mark Buckingham, Markus Giftthaler, Matthias Kohler, Timothy Sandy","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-13T07:04:23Z","title":"Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.03573","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":"sha256:0e689a3415b17f7855da4db936bf0691b8407d0dd59142938766e31b72266bfd","target":"record","created_at":"2026-05-18T00:42:19Z","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":"8168cdafe0be56d219bf256a15d9cae6b8d42177db84debf27dcf0faae48e4a7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-13T07:04:23Z","title_canon_sha256":"b1e296b58f1a86351e1d164deaf5bee67b3cc9b919add5e1266a05dc994d46cd"},"schema_version":"1.0","source":{"id":"1701.03573","kind":"arxiv","version":1}},"canonical_sha256":"02298a97244a3c393fb493ce96eb6652a851843b35dc8261cb1275a634f7b51b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"02298a97244a3c393fb493ce96eb6652a851843b35dc8261cb1275a634f7b51b","first_computed_at":"2026-05-18T00:42:19.786328Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:42:19.786328Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PCXVoU0GmTsYeXV4NZ1LwcOSg5n6UHOD4qgK1bl5n4ElGlawILhSSFXJCOOS0cQB5O2ii8M7MSTDKMNrHf+MBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:42:19.786843Z","signed_message":"canonical_sha256_bytes"},"source_id":"1701.03573","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0e689a3415b17f7855da4db936bf0691b8407d0dd59142938766e31b72266bfd","sha256:848010e3ccba78bfb882221cd933ad1dd0d7099ab9fc922b08bb15e05848469a"],"state_sha256":"74fbeede57f770183093df5ac97b13292e9c79c324028fff05c680a95fb18de1"}