{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:DCAFY3H52G45NGMVLCRNYA2TJ5","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":"68ee4badbcad8e2e77092b1a5d8af6c6b252a23cd5def0b5757699d42b95ee41","cross_cats_sorted":["cs.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T04:35:16Z","title_canon_sha256":"b9bc4273fb0d73cf9afc5f9446ca6c57c6ceb82fbde525b3f70c655c78d00468"},"schema_version":"1.0","source":{"id":"1806.00188","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1806.00188","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"arxiv_version","alias_value":"1806.00188v1","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1806.00188","created_at":"2026-05-18T00:14:27Z"},{"alias_kind":"pith_short_12","alias_value":"DCAFY3H52G45","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DCAFY3H52G45NGMV","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DCAFY3H5","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:77251a38e218f2cb343dc18474c7e082c75187e007d1b45da861a3004d3ad215","target":"graph","created_at":"2026-05-18T00:14:27Z","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":"Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must consume a substantial amount of mission-critical resources (e.g., battery and bandwidth) to exchange sensory data. However, even with the most resource-efficient techniques, the resources available onboard may be insufficient for verifying every potential loop closure. This work addresses this critical challenge by proposing a resource-adaptive framework for distributed loop closure detection. We seek to maximize ta","authors_text":"Jonathan Kelly, Jonathan P. How, Kasra Khosoussi, Matthew Giamou, Yulun Tian","cross_cats":["cs.DS"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T04:35:16Z","title":"Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1806.00188","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":"sha256:1ffe181f94a2350a42e4d221a29d301d0db217746560f7c55423542b52a969c0","target":"record","created_at":"2026-05-18T00:14:27Z","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":"68ee4badbcad8e2e77092b1a5d8af6c6b252a23cd5def0b5757699d42b95ee41","cross_cats_sorted":["cs.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-06-01T04:35:16Z","title_canon_sha256":"b9bc4273fb0d73cf9afc5f9446ca6c57c6ceb82fbde525b3f70c655c78d00468"},"schema_version":"1.0","source":{"id":"1806.00188","kind":"arxiv","version":1}},"canonical_sha256":"18805c6cfdd1b9d6999558a2dc03534f40c647942cfba6f1e921235eb9967743","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"18805c6cfdd1b9d6999558a2dc03534f40c647942cfba6f1e921235eb9967743","first_computed_at":"2026-05-18T00:14:27.695636Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:14:27.695636Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bmT7V9hrv8VHX0N1Ocmp5L7pZE0vngKV+h/VCjf/BE/253KjdM4PQJseHOhNtGkNyuAywv08TEzVUK75Q8u9Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:14:27.696328Z","signed_message":"canonical_sha256_bytes"},"source_id":"1806.00188","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1ffe181f94a2350a42e4d221a29d301d0db217746560f7c55423542b52a969c0","sha256:77251a38e218f2cb343dc18474c7e082c75187e007d1b45da861a3004d3ad215"],"state_sha256":"2325054ca0fd1600fbed509d995f2c5bffc6a86b3be68c9df8885e63d294710a"}