{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:U6XUMGAUMH3AJYPTQCTVIH3KUY","short_pith_number":"pith:U6XUMGAU","canonical_record":{"source":{"id":"1604.00640","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-03T14:23:03Z","cross_cats_sorted":[],"title_canon_sha256":"afd25b4102171bd72475f8cc5cc69007a8068005c5adb07c20d59b9e43fa93c5","abstract_canon_sha256":"907925ce306ce7299965b0bd987fd10e664ff845b633183cc684443d544c0f49"},"schema_version":"1.0"},"canonical_sha256":"a7af46181461f604e1f380a7541f6aa62694bc0361fad856dd2929c2827dfc52","source":{"kind":"arxiv","id":"1604.00640","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.00640","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"arxiv_version","alias_value":"1604.00640v1","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.00640","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"pith_short_12","alias_value":"U6XUMGAUMH3A","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"U6XUMGAUMH3AJYPT","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"U6XUMGAU","created_at":"2026-05-18T12:30:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:U6XUMGAUMH3AJYPTQCTVIH3KUY","target":"record","payload":{"canonical_record":{"source":{"id":"1604.00640","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-03T14:23:03Z","cross_cats_sorted":[],"title_canon_sha256":"afd25b4102171bd72475f8cc5cc69007a8068005c5adb07c20d59b9e43fa93c5","abstract_canon_sha256":"907925ce306ce7299965b0bd987fd10e664ff845b633183cc684443d544c0f49"},"schema_version":"1.0"},"canonical_sha256":"a7af46181461f604e1f380a7541f6aa62694bc0361fad856dd2929c2827dfc52","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:17:48.814830Z","signature_b64":"jtgQ6b0TJcx5gbdIQljGK0W0jkVIn5ZuDCBbxJvKJe2P+F36QPyTZ5SbrH8KkzjaqorwpfKt+LHB4reE3ITbCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a7af46181461f604e1f380a7541f6aa62694bc0361fad856dd2929c2827dfc52","last_reissued_at":"2026-05-18T01:17:48.813867Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:17:48.813867Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1604.00640","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":"2026-05-18T01:17:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xbUfB34dXNX7ySR1AVJR4QfGJGMLFIWjPrRtRX4hgLj5tnwHJTHUpqqvhyMBJvOdUvpMxD8+iqjt7hcYmundDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T12:54:15.028096Z"},"content_sha256":"a83d0fd9521482ec2a357f03f262661c141e5f94252614464d0c37460953f70f","schema_version":"1.0","event_id":"sha256:a83d0fd9521482ec2a357f03f262661c141e5f94252614464d0c37460953f70f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:U6XUMGAUMH3AJYPTQCTVIH3KUY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safe, Remote-Access Swarm Robotics Research on the Robotarium","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron Ames, Daniel Pickem, Eric Feron, Li Wang, Magnus Egerstedt, Mark Mote, Paul Glotfelter, Yancy Diaz-Mercado","submitted_at":"2016-04-03T14:23:03Z","abstract_excerpt":"This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and op"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.00640","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":""},"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":"2026-05-18T01:17:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BEMUCudZVWO8dOuhEm8de062whd0rMPPtciNwdP7fy02whud9py281tk+6czgPqjzSQDWL+Pp0cxAtxxdTwhCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T12:54:15.028458Z"},"content_sha256":"34de29d3443bd6a807423efaf3384b77b75c42ddbeefba9b9810d832b91981fb","schema_version":"1.0","event_id":"sha256:34de29d3443bd6a807423efaf3384b77b75c42ddbeefba9b9810d832b91981fb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/bundle.json","state_url":"https://pith.science/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/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":"2026-06-24T12:54:15Z","links":{"resolver":"https://pith.science/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY","bundle":"https://pith.science/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/bundle.json","state":"https://pith.science/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U6XUMGAUMH3AJYPTQCTVIH3KUY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:U6XUMGAUMH3AJYPTQCTVIH3KUY","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":"907925ce306ce7299965b0bd987fd10e664ff845b633183cc684443d544c0f49","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-03T14:23:03Z","title_canon_sha256":"afd25b4102171bd72475f8cc5cc69007a8068005c5adb07c20d59b9e43fa93c5"},"schema_version":"1.0","source":{"id":"1604.00640","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.00640","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"arxiv_version","alias_value":"1604.00640v1","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.00640","created_at":"2026-05-18T01:17:48Z"},{"alias_kind":"pith_short_12","alias_value":"U6XUMGAUMH3A","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_16","alias_value":"U6XUMGAUMH3AJYPT","created_at":"2026-05-18T12:30:46Z"},{"alias_kind":"pith_short_8","alias_value":"U6XUMGAU","created_at":"2026-05-18T12:30:46Z"}],"graph_snapshots":[{"event_id":"sha256:34de29d3443bd6a807423efaf3384b77b75c42ddbeefba9b9810d832b91981fb","target":"graph","created_at":"2026-05-18T01:17:48Z","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 describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and op","authors_text":"Aaron Ames, Daniel Pickem, Eric Feron, Li Wang, Magnus Egerstedt, Mark Mote, Paul Glotfelter, Yancy Diaz-Mercado","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-03T14:23:03Z","title":"Safe, Remote-Access Swarm Robotics Research on the Robotarium"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.00640","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:a83d0fd9521482ec2a357f03f262661c141e5f94252614464d0c37460953f70f","target":"record","created_at":"2026-05-18T01:17:48Z","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":"907925ce306ce7299965b0bd987fd10e664ff845b633183cc684443d544c0f49","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-03T14:23:03Z","title_canon_sha256":"afd25b4102171bd72475f8cc5cc69007a8068005c5adb07c20d59b9e43fa93c5"},"schema_version":"1.0","source":{"id":"1604.00640","kind":"arxiv","version":1}},"canonical_sha256":"a7af46181461f604e1f380a7541f6aa62694bc0361fad856dd2929c2827dfc52","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a7af46181461f604e1f380a7541f6aa62694bc0361fad856dd2929c2827dfc52","first_computed_at":"2026-05-18T01:17:48.813867Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:17:48.813867Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jtgQ6b0TJcx5gbdIQljGK0W0jkVIn5ZuDCBbxJvKJe2P+F36QPyTZ5SbrH8KkzjaqorwpfKt+LHB4reE3ITbCg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:17:48.814830Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.00640","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a83d0fd9521482ec2a357f03f262661c141e5f94252614464d0c37460953f70f","sha256:34de29d3443bd6a807423efaf3384b77b75c42ddbeefba9b9810d832b91981fb"],"state_sha256":"cc474f64f906139fc39268d21a511ac5eaba5a2ef2b2b7fcbed7c94f60149f5d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6i94din/PewrejL5QQWEhjlTtFukVYXIrv+8Q8nEwNbL58LqRUT2iDaEeHHQCuTsN/KbQ/AzxSgOWh4MbWOYBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-24T12:54:15.030427Z","bundle_sha256":"dd8e5d3c17f872e90e0ec2d12e2a27a215208693c3283fa809ad8159cabb59a5"}}