{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:EWA2WCZNLUAC3IGXIFVKP3NE3I","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":"9a155c8912ba7a707dfb1284dee87f2c2380ff8ddef1ee163f1a027854149725","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-17T20:45:49Z","title_canon_sha256":"732c707aa2672c57c00fe6be8fb22807a4d26194b8d4bc200ed5520c612633cb"},"schema_version":"1.0","source":{"id":"1905.07470","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.07470","created_at":"2026-05-17T23:45:51Z"},{"alias_kind":"arxiv_version","alias_value":"1905.07470v1","created_at":"2026-05-17T23:45:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.07470","created_at":"2026-05-17T23:45:51Z"},{"alias_kind":"pith_short_12","alias_value":"EWA2WCZNLUAC","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"EWA2WCZNLUAC3IGX","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"EWA2WCZN","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:0d38bbe32c8cdaa4a714c1b4043ff5f31159540de16a2164a474599806761f96","target":"graph","created_at":"2026-05-17T23:45:51Z","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 a novel approach to AUV localization, based on a semantic-aided particle filter. Particle filters have been used successfully for robotics localization since many years. Most of the approaches are however based on geometric measurements and geometric information and simulations. In the past years more and more efforts from research goes towards cognitive robotics and the marine domain is not exception. Moving from signal to symbol becomes therefore paramount for more complex applications. This paper presents a contribution in the well-known area of underwater localization, ","authors_text":"Francesco Maurelli, Szymon Krupinski","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-17T20:45:49Z","title":"A semantic-aided particle filter approach for AUV localization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.07470","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":"sha256:1f3307773f329c6183a946763d4a75dd6957411e9abe46f6500605c1017a57c9","target":"record","created_at":"2026-05-17T23:45:51Z","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":"9a155c8912ba7a707dfb1284dee87f2c2380ff8ddef1ee163f1a027854149725","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-17T20:45:49Z","title_canon_sha256":"732c707aa2672c57c00fe6be8fb22807a4d26194b8d4bc200ed5520c612633cb"},"schema_version":"1.0","source":{"id":"1905.07470","kind":"arxiv","version":1}},"canonical_sha256":"2581ab0b2d5d002da0d7416aa7eda4da0e2eb4fb222fc3e8cc98a07d8bff08f7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2581ab0b2d5d002da0d7416aa7eda4da0e2eb4fb222fc3e8cc98a07d8bff08f7","first_computed_at":"2026-05-17T23:45:51.269728Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:45:51.269728Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Oi8Yu3JEHmokh6r+x+7DPKohwXmFIhmMk5+CsNyclKUi6xQUOHSgL/FvBzXmpMzy6ASCWxeJMxFA1jkr0+ksBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:45:51.270198Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.07470","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1f3307773f329c6183a946763d4a75dd6957411e9abe46f6500605c1017a57c9","sha256:0d38bbe32c8cdaa4a714c1b4043ff5f31159540de16a2164a474599806761f96"],"state_sha256":"86fa76f5fb02e6bd80e7085506a65e92d6d67cb04374a5cf41ef205cfdc2aacf"}