{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:DCMHI2SEEEMTREN5JQMQ46PIWM","short_pith_number":"pith:DCMHI2SE","canonical_record":{"source":{"id":"2203.04311","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-03-08T14:50:29Z","cross_cats_sorted":["cs.AI","eess.SP"],"title_canon_sha256":"9a2871e4110b7b2684ed59c2d6095fdcd5f4b092002c43f4c5d813f106d2d916","abstract_canon_sha256":"7142905b5e783f7b6589b0d2b08fc0e6a98d4bb42b56402cdbba0e436e73a346"},"schema_version":"1.0"},"canonical_sha256":"1898746a4421193891bd4c190e79e8b3298d231e654883c1a1e0ec3918a7f28c","source":{"kind":"arxiv","id":"2203.04311","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.04311","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"arxiv_version","alias_value":"2203.04311v1","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.04311","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_12","alias_value":"DCMHI2SEEEMT","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_16","alias_value":"DCMHI2SEEEMTREN5","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_8","alias_value":"DCMHI2SE","created_at":"2026-07-05T04:03:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:DCMHI2SEEEMTREN5JQMQ46PIWM","target":"record","payload":{"canonical_record":{"source":{"id":"2203.04311","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-03-08T14:50:29Z","cross_cats_sorted":["cs.AI","eess.SP"],"title_canon_sha256":"9a2871e4110b7b2684ed59c2d6095fdcd5f4b092002c43f4c5d813f106d2d916","abstract_canon_sha256":"7142905b5e783f7b6589b0d2b08fc0e6a98d4bb42b56402cdbba0e436e73a346"},"schema_version":"1.0"},"canonical_sha256":"1898746a4421193891bd4c190e79e8b3298d231e654883c1a1e0ec3918a7f28c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:03:16.828915Z","signature_b64":"oKljz+idk8YK5XPXx98Rs/fqcl4Ux6VuQakCbnHtyaGEF183/Niw0kzty2WcoK+gt9pf60R6A7vNp0DVMn1KAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1898746a4421193891bd4c190e79e8b3298d231e654883c1a1e0ec3918a7f28c","last_reissued_at":"2026-07-05T04:03:16.828476Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:03:16.828476Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2203.04311","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":"2026-07-05T04:03:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7fM2HjooTUbOG4w8zZq+0LScMUvji5/gjd6YPfk+zWo6C9AKRJIAiWq6VUk8q2DQPgE3jPbcQakoZ4TlT+7OAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T09:08:40.907407Z"},"content_sha256":"840ec4f57c06c5d01c8571c1cd1766392530f037dcf1f7fc059c9b08bea5bc5c","schema_version":"1.0","event_id":"sha256:840ec4f57c06c5d01c8571c1cd1766392530f037dcf1f7fc059c9b08bea5bc5c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:DCMHI2SEEEMTREN5JQMQ46PIWM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Cluster Head Detection for Hierarchical UAV Swarm With Graph Self-supervised Learning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","eess.SP"],"primary_cat":"cs.LG","authors_text":"Feifei Gao, Jun Liu, Qihui Wu, Xiang Yun, Zhiyu Mou","submitted_at":"2022-03-08T14:50:29Z","abstract_excerpt":"In this paper, we study the cluster head detection problem of a two-level unmanned aerial vehicle (UAV) swarm network (USNET) with multiple UAV clusters, where the inherent follow strategy (IFS) of low-level follower UAVs (FUAVs) with respect to high-level cluster head UAVs (HUAVs) is unknown. We first propose a graph attention self-supervised learning algorithm (GASSL) to detect the HUAVs of a single UAV cluster, where the GASSL can fit the IFS at the same time. Then, to detect the HUAVs in the USNET with multiple UAV clusters, we develop a multi-cluster graph attention self-supervised learni"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.04311","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/2203.04311/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":"2026-07-05T04:03:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FT9LV0gYCLQZr3qLsmb1txnxBKxwpu1gQdiTEN1qDKN8T1sO4lZ2Q3qf3VG/ijvQZyRpEJlgmc6ER2V1X5CFCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T09:08:40.907786Z"},"content_sha256":"10e81599ce2a7d853cb5ffdeeea166ccf918092561f9eb14df738dbf8f2304f2","schema_version":"1.0","event_id":"sha256:10e81599ce2a7d853cb5ffdeeea166ccf918092561f9eb14df738dbf8f2304f2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/bundle.json","state_url":"https://pith.science/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/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":"2026-07-07T09:08:40Z","links":{"resolver":"https://pith.science/pith/DCMHI2SEEEMTREN5JQMQ46PIWM","bundle":"https://pith.science/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/bundle.json","state":"https://pith.science/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DCMHI2SEEEMTREN5JQMQ46PIWM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:DCMHI2SEEEMTREN5JQMQ46PIWM","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":"7142905b5e783f7b6589b0d2b08fc0e6a98d4bb42b56402cdbba0e436e73a346","cross_cats_sorted":["cs.AI","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-03-08T14:50:29Z","title_canon_sha256":"9a2871e4110b7b2684ed59c2d6095fdcd5f4b092002c43f4c5d813f106d2d916"},"schema_version":"1.0","source":{"id":"2203.04311","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.04311","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"arxiv_version","alias_value":"2203.04311v1","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.04311","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_12","alias_value":"DCMHI2SEEEMT","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_16","alias_value":"DCMHI2SEEEMTREN5","created_at":"2026-07-05T04:03:16Z"},{"alias_kind":"pith_short_8","alias_value":"DCMHI2SE","created_at":"2026-07-05T04:03:16Z"}],"graph_snapshots":[{"event_id":"sha256:10e81599ce2a7d853cb5ffdeeea166ccf918092561f9eb14df738dbf8f2304f2","target":"graph","created_at":"2026-07-05T04:03:16Z","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/2203.04311/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we study the cluster head detection problem of a two-level unmanned aerial vehicle (UAV) swarm network (USNET) with multiple UAV clusters, where the inherent follow strategy (IFS) of low-level follower UAVs (FUAVs) with respect to high-level cluster head UAVs (HUAVs) is unknown. We first propose a graph attention self-supervised learning algorithm (GASSL) to detect the HUAVs of a single UAV cluster, where the GASSL can fit the IFS at the same time. Then, to detect the HUAVs in the USNET with multiple UAV clusters, we develop a multi-cluster graph attention self-supervised learni","authors_text":"Feifei Gao, Jun Liu, Qihui Wu, Xiang Yun, Zhiyu Mou","cross_cats":["cs.AI","eess.SP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-03-08T14:50:29Z","title":"Cluster Head Detection for Hierarchical UAV Swarm With Graph Self-supervised Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.04311","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":"sha256:840ec4f57c06c5d01c8571c1cd1766392530f037dcf1f7fc059c9b08bea5bc5c","target":"record","created_at":"2026-07-05T04:03:16Z","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":"7142905b5e783f7b6589b0d2b08fc0e6a98d4bb42b56402cdbba0e436e73a346","cross_cats_sorted":["cs.AI","eess.SP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2022-03-08T14:50:29Z","title_canon_sha256":"9a2871e4110b7b2684ed59c2d6095fdcd5f4b092002c43f4c5d813f106d2d916"},"schema_version":"1.0","source":{"id":"2203.04311","kind":"arxiv","version":1}},"canonical_sha256":"1898746a4421193891bd4c190e79e8b3298d231e654883c1a1e0ec3918a7f28c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1898746a4421193891bd4c190e79e8b3298d231e654883c1a1e0ec3918a7f28c","first_computed_at":"2026-07-05T04:03:16.828476Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:03:16.828476Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oKljz+idk8YK5XPXx98Rs/fqcl4Ux6VuQakCbnHtyaGEF183/Niw0kzty2WcoK+gt9pf60R6A7vNp0DVMn1KAg==","signature_status":"signed_v1","signed_at":"2026-07-05T04:03:16.828915Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.04311","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:840ec4f57c06c5d01c8571c1cd1766392530f037dcf1f7fc059c9b08bea5bc5c","sha256:10e81599ce2a7d853cb5ffdeeea166ccf918092561f9eb14df738dbf8f2304f2"],"state_sha256":"206bb9f1ebdcb88f112343c68e83a80bcc745311287419b301e87af77d6a4fbd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mY4oOzYQfPUfcZpF2jaIHQBLJw/4eacBVBSNFw8NUzuF38r+LTdybppqYSY+Ydz6iLjSdXdMvoLE+yCX7HIcCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T09:08:40.909727Z","bundle_sha256":"748fa95e800d03124b7180f9fbb5008d24778044a66eae44c37fea9bc6ed5cc5"}}