{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:LQXT37MNMC2X7KZPDMSIDYFPCT","short_pith_number":"pith:LQXT37MN","canonical_record":{"source":{"id":"2209.09206","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-09-13T12:39:23Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"238a1f39e76f36d069a57d242aec7acdea708511465f5843c6589ac7b9ecbbf9","abstract_canon_sha256":"cf0813ab7e041c278d77594e03eb4aaccbd34ff89d3c7846c1ad8f74b68937ce"},"schema_version":"1.0"},"canonical_sha256":"5c2f3dfd8d60b57fab2f1b2481e0af14f8be794dd2a813eab2e3c3ef4ed0c9b7","source":{"kind":"arxiv","id":"2209.09206","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.09206","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"arxiv_version","alias_value":"2209.09206v1","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.09206","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_12","alias_value":"LQXT37MNMC2X","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_16","alias_value":"LQXT37MNMC2X7KZP","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_8","alias_value":"LQXT37MN","created_at":"2026-07-05T04:58:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:LQXT37MNMC2X7KZPDMSIDYFPCT","target":"record","payload":{"canonical_record":{"source":{"id":"2209.09206","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-09-13T12:39:23Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"238a1f39e76f36d069a57d242aec7acdea708511465f5843c6589ac7b9ecbbf9","abstract_canon_sha256":"cf0813ab7e041c278d77594e03eb4aaccbd34ff89d3c7846c1ad8f74b68937ce"},"schema_version":"1.0"},"canonical_sha256":"5c2f3dfd8d60b57fab2f1b2481e0af14f8be794dd2a813eab2e3c3ef4ed0c9b7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:58:50.786405Z","signature_b64":"6sKcHOZzZYdle4zIPVs/PIAsjFGd96XtqLg6xNHmvTYixlhTnNuz+Wcz2me7AJZNXJF2xbn2YFT+vzgEqXopBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5c2f3dfd8d60b57fab2f1b2481e0af14f8be794dd2a813eab2e3c3ef4ed0c9b7","last_reissued_at":"2026-07-05T04:58:50.785966Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:58:50.785966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.09206","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":"2026-07-05T04:58:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Xhg4pPEFu6EVvMi2BAyvRstduvVQ9upsyoMtG3aep3nAB9DH44k6cID45mCi6W1lLHNZBbW4eBsmvvE4UVnyBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T02:58:16.448424Z"},"content_sha256":"77076339ebfb48b2ff63454e056b805e3a99df03c11837931a7aeaef20e9b48a","schema_version":"1.0","event_id":"sha256:77076339ebfb48b2ff63454e056b805e3a99df03c11837931a7aeaef20e9b48a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:LQXT37MNMC2X7KZPDMSIDYFPCT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Learning-Based Trajectory Planning of Multiple UAVs for AoI Minimization in IoT Networks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.AI","authors_text":"Dian Echevarr\\'ia P\\'erez, Eslam Eldeeb, Hirley Alves, Jean Michel de Souza Sant'Ana, Matti Latva-aho, Mohammad Shehab, Nurul Huda Mahmood","submitted_at":"2022-09-13T12:39:23Z","abstract_excerpt":"Many emerging Internet of Things (IoT) applications rely on information collected by sensor nodes where the freshness of information is an important criterion. \\textit{Age of Information} (AoI) is a metric that quantifies information timeliness, i.e., the freshness of the received information or status update. This work considers a setup of deployed sensors in an IoT network, where multiple unmanned aerial vehicles (UAVs) serve as mobile relay nodes between the sensors and the base station. We formulate an optimization problem to jointly plan the UAVs' trajectory, while minimizing the AoI of t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.09206","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/2209.09206/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":"2026-07-05T04:58:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KkwRy+q5O2KBncPGQ2Rmj794KIZ0xD9oEOkRMmiD8Cax57f//CP20HycjKifwp2CRKZlk96sZikXKw5c7FeEAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T02:58:16.449166Z"},"content_sha256":"b50f3ebcc891ecbbe8a6ed2f1a1d1004018645c0055b1773c41204587f973ad3","schema_version":"1.0","event_id":"sha256:b50f3ebcc891ecbbe8a6ed2f1a1d1004018645c0055b1773c41204587f973ad3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/bundle.json","state_url":"https://pith.science/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/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":"2026-07-07T02:58:16Z","links":{"resolver":"https://pith.science/pith/LQXT37MNMC2X7KZPDMSIDYFPCT","bundle":"https://pith.science/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/bundle.json","state":"https://pith.science/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LQXT37MNMC2X7KZPDMSIDYFPCT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:LQXT37MNMC2X7KZPDMSIDYFPCT","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":"cf0813ab7e041c278d77594e03eb4aaccbd34ff89d3c7846c1ad8f74b68937ce","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-09-13T12:39:23Z","title_canon_sha256":"238a1f39e76f36d069a57d242aec7acdea708511465f5843c6589ac7b9ecbbf9"},"schema_version":"1.0","source":{"id":"2209.09206","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.09206","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"arxiv_version","alias_value":"2209.09206v1","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.09206","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_12","alias_value":"LQXT37MNMC2X","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_16","alias_value":"LQXT37MNMC2X7KZP","created_at":"2026-07-05T04:58:50Z"},{"alias_kind":"pith_short_8","alias_value":"LQXT37MN","created_at":"2026-07-05T04:58:50Z"}],"graph_snapshots":[{"event_id":"sha256:b50f3ebcc891ecbbe8a6ed2f1a1d1004018645c0055b1773c41204587f973ad3","target":"graph","created_at":"2026-07-05T04:58:50Z","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/2209.09206/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many emerging Internet of Things (IoT) applications rely on information collected by sensor nodes where the freshness of information is an important criterion. \\textit{Age of Information} (AoI) is a metric that quantifies information timeliness, i.e., the freshness of the received information or status update. This work considers a setup of deployed sensors in an IoT network, where multiple unmanned aerial vehicles (UAVs) serve as mobile relay nodes between the sensors and the base station. We formulate an optimization problem to jointly plan the UAVs' trajectory, while minimizing the AoI of t","authors_text":"Dian Echevarr\\'ia P\\'erez, Eslam Eldeeb, Hirley Alves, Jean Michel de Souza Sant'Ana, Matti Latva-aho, Mohammad Shehab, Nurul Huda Mahmood","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-09-13T12:39:23Z","title":"A Learning-Based Trajectory Planning of Multiple UAVs for AoI Minimization in IoT Networks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.09206","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":"sha256:77076339ebfb48b2ff63454e056b805e3a99df03c11837931a7aeaef20e9b48a","target":"record","created_at":"2026-07-05T04:58:50Z","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":"cf0813ab7e041c278d77594e03eb4aaccbd34ff89d3c7846c1ad8f74b68937ce","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-09-13T12:39:23Z","title_canon_sha256":"238a1f39e76f36d069a57d242aec7acdea708511465f5843c6589ac7b9ecbbf9"},"schema_version":"1.0","source":{"id":"2209.09206","kind":"arxiv","version":1}},"canonical_sha256":"5c2f3dfd8d60b57fab2f1b2481e0af14f8be794dd2a813eab2e3c3ef4ed0c9b7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5c2f3dfd8d60b57fab2f1b2481e0af14f8be794dd2a813eab2e3c3ef4ed0c9b7","first_computed_at":"2026-07-05T04:58:50.785966Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:58:50.785966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6sKcHOZzZYdle4zIPVs/PIAsjFGd96XtqLg6xNHmvTYixlhTnNuz+Wcz2me7AJZNXJF2xbn2YFT+vzgEqXopBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:58:50.786405Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.09206","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:77076339ebfb48b2ff63454e056b805e3a99df03c11837931a7aeaef20e9b48a","sha256:b50f3ebcc891ecbbe8a6ed2f1a1d1004018645c0055b1773c41204587f973ad3"],"state_sha256":"f8875e7e840343bba16e40c06110c89cc4d8d8dd24c4a2c4df2130071abb4d1c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4ilfZ9KDG7LD0xL9T/234A3PrUVsL0hdzH2eaip6LGodvLNfo2kzolnR/ZWM2+5rWkGqj9kCzjTr8RSyrHYdBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T02:58:16.452997Z","bundle_sha256":"ec5b2c384fade5d7a17f2754d9238e3be6a9624d7a76c6dca8e1f45ae9e85c63"}}