{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:XDP6KY5MX6USRNBPOZTHIV5NGV","short_pith_number":"pith:XDP6KY5M","canonical_record":{"source":{"id":"2606.12019","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T12:44:25Z","cross_cats_sorted":[],"title_canon_sha256":"2e3415d4227dac7382b7eeded24d14de590818fcf4c2f38ac6db0b392bb3ba68","abstract_canon_sha256":"1cf5030416d14cad18ef342b15a37546a22681666a14bad85e49708f6bb1779d"},"schema_version":"1.0"},"canonical_sha256":"b8dfe563acbfa928b42f76667457ad3561da2e8213c3f949cabec0ec9d627fac","source":{"kind":"arxiv","id":"2606.12019","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.12019","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"arxiv_version","alias_value":"2606.12019v1","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.12019","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_12","alias_value":"XDP6KY5MX6US","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_16","alias_value":"XDP6KY5MX6USRNBP","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_8","alias_value":"XDP6KY5M","created_at":"2026-06-11T01:10:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:XDP6KY5MX6USRNBPOZTHIV5NGV","target":"record","payload":{"canonical_record":{"source":{"id":"2606.12019","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T12:44:25Z","cross_cats_sorted":[],"title_canon_sha256":"2e3415d4227dac7382b7eeded24d14de590818fcf4c2f38ac6db0b392bb3ba68","abstract_canon_sha256":"1cf5030416d14cad18ef342b15a37546a22681666a14bad85e49708f6bb1779d"},"schema_version":"1.0"},"canonical_sha256":"b8dfe563acbfa928b42f76667457ad3561da2e8213c3f949cabec0ec9d627fac","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-11T01:10:43.309102Z","signature_b64":"TG2fD21+z047agmnk+Th0tZzUamk0krXjaq1hpku7vqlx4jGti88zoRh0j/+kxpCTh80UlJ1Q+GUz5KqrFDuBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b8dfe563acbfa928b42f76667457ad3561da2e8213c3f949cabec0ec9d627fac","last_reissued_at":"2026-06-11T01:10:43.308032Z","signature_status":"signed_v1","first_computed_at":"2026-06-11T01:10:43.308032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.12019","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":"2026-06-11T01:10:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wv2f2WJaQHoXigjzSAMohCsdGMx6rdFyQmk5VXdNADC6x/8VdLdvT4ooehTf6a1uUsQqXT4ZAc/vEHs1+F4gBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T23:34:30.656729Z"},"content_sha256":"050b7a2c3fcdefdd08c5004325a45085aee3984b8e6fca45c3b2f754167a6566","schema_version":"1.0","event_id":"sha256:050b7a2c3fcdefdd08c5004325a45085aee3984b8e6fca45c3b2f754167a6566"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:XDP6KY5MX6USRNBPOZTHIV5NGV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MPPI-based Informative Trajectory Planning for Search and Capture of Drifting Targets with ASVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Erlend M. Coates, Marija Popovi\\'c, Sanjeev Ramkumar Sudha","submitted_at":"2026-06-10T12:44:25Z","abstract_excerpt":"Autonomous surface vehicles offer an efficient solution for environmental cleanup as well as search and rescue operations in open waters. Targets in these settings drift continuously, so efficient search must balance exploration of unobserved regions with tracking of known targets. However, most target tracking and pursuit scenarios consider simple guidance behaviours and short-term predictions for decision-making. In this letter, we address the problem of search and capture of multiple drifting targets, such as litter, in dynamic environments, using a hybrid planning framework. A key aspect o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.12019","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/2606.12019/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":"2026-06-11T01:10:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ITlquH0cvdF+wlk9bPFtMcIFELHjzDQFBjk6dFx00B0va4u70AImkFhstrMVzSgrXqf26V7++VkesxG919AiAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T23:34:30.657083Z"},"content_sha256":"476516c368b6a4568d4bb587de3d6365bfb9e665d2ccae9ab4973fa783d87719","schema_version":"1.0","event_id":"sha256:476516c368b6a4568d4bb587de3d6365bfb9e665d2ccae9ab4973fa783d87719"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/bundle.json","state_url":"https://pith.science/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/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":"2026-06-28T23:34:30Z","links":{"resolver":"https://pith.science/pith/XDP6KY5MX6USRNBPOZTHIV5NGV","bundle":"https://pith.science/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/bundle.json","state":"https://pith.science/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XDP6KY5MX6USRNBPOZTHIV5NGV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XDP6KY5MX6USRNBPOZTHIV5NGV","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":"1cf5030416d14cad18ef342b15a37546a22681666a14bad85e49708f6bb1779d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T12:44:25Z","title_canon_sha256":"2e3415d4227dac7382b7eeded24d14de590818fcf4c2f38ac6db0b392bb3ba68"},"schema_version":"1.0","source":{"id":"2606.12019","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.12019","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"arxiv_version","alias_value":"2606.12019v1","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.12019","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_12","alias_value":"XDP6KY5MX6US","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_16","alias_value":"XDP6KY5MX6USRNBP","created_at":"2026-06-11T01:10:43Z"},{"alias_kind":"pith_short_8","alias_value":"XDP6KY5M","created_at":"2026-06-11T01:10:43Z"}],"graph_snapshots":[{"event_id":"sha256:476516c368b6a4568d4bb587de3d6365bfb9e665d2ccae9ab4973fa783d87719","target":"graph","created_at":"2026-06-11T01:10:43Z","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/2606.12019/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous surface vehicles offer an efficient solution for environmental cleanup as well as search and rescue operations in open waters. Targets in these settings drift continuously, so efficient search must balance exploration of unobserved regions with tracking of known targets. However, most target tracking and pursuit scenarios consider simple guidance behaviours and short-term predictions for decision-making. In this letter, we address the problem of search and capture of multiple drifting targets, such as litter, in dynamic environments, using a hybrid planning framework. A key aspect o","authors_text":"Erlend M. Coates, Marija Popovi\\'c, Sanjeev Ramkumar Sudha","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T12:44:25Z","title":"MPPI-based Informative Trajectory Planning for Search and Capture of Drifting Targets with ASVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.12019","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":"sha256:050b7a2c3fcdefdd08c5004325a45085aee3984b8e6fca45c3b2f754167a6566","target":"record","created_at":"2026-06-11T01:10:43Z","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":"1cf5030416d14cad18ef342b15a37546a22681666a14bad85e49708f6bb1779d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T12:44:25Z","title_canon_sha256":"2e3415d4227dac7382b7eeded24d14de590818fcf4c2f38ac6db0b392bb3ba68"},"schema_version":"1.0","source":{"id":"2606.12019","kind":"arxiv","version":1}},"canonical_sha256":"b8dfe563acbfa928b42f76667457ad3561da2e8213c3f949cabec0ec9d627fac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b8dfe563acbfa928b42f76667457ad3561da2e8213c3f949cabec0ec9d627fac","first_computed_at":"2026-06-11T01:10:43.308032Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-11T01:10:43.308032Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TG2fD21+z047agmnk+Th0tZzUamk0krXjaq1hpku7vqlx4jGti88zoRh0j/+kxpCTh80UlJ1Q+GUz5KqrFDuBQ==","signature_status":"signed_v1","signed_at":"2026-06-11T01:10:43.309102Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.12019","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:050b7a2c3fcdefdd08c5004325a45085aee3984b8e6fca45c3b2f754167a6566","sha256:476516c368b6a4568d4bb587de3d6365bfb9e665d2ccae9ab4973fa783d87719"],"state_sha256":"6b146e4014c23da963916861837e10bbcc4c1feb86157cbbc43ac2b084d4b311"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O3qKVMo1/TDnIyG9tylR8AMUAhqAwUtb1+oFfntYDG5nnOGEvE46ap3QuXOvVCee0nIWxebGa6Hd84ted0jiBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T23:34:30.658909Z","bundle_sha256":"11e2ead17c404937368eb9a6555c847969ae62fde824959aaef565b9c4260b66"}}