{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:XYWWXYNFUGOSOIQIELWKDSER5S","short_pith_number":"pith:XYWWXYNF","canonical_record":{"source":{"id":"1709.08746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2017-09-25T23:03:32Z","cross_cats_sorted":["cs.MA","cs.SY","math.OC"],"title_canon_sha256":"95c9944de654c76113643cedc503385de053ec5970068f05e34a27aae146d543","abstract_canon_sha256":"1ca2a9b6cb6b5594626c6985ff611f70af72360394f29f736a97f9fb6bfee96d"},"schema_version":"1.0"},"canonical_sha256":"be2d6be1a5a19d27220822eca1c891ecab2a7877fcc2a9c141c5790e30c8c497","source":{"kind":"arxiv","id":"1709.08746","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.08746","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"arxiv_version","alias_value":"1709.08746v1","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.08746","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_12","alias_value":"XYWWXYNFUGOS","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_16","alias_value":"XYWWXYNFUGOSOIQI","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_8","alias_value":"XYWWXYNF","created_at":"2026-06-04T19:11:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:XYWWXYNFUGOSOIQIELWKDSER5S","target":"record","payload":{"canonical_record":{"source":{"id":"1709.08746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2017-09-25T23:03:32Z","cross_cats_sorted":["cs.MA","cs.SY","math.OC"],"title_canon_sha256":"95c9944de654c76113643cedc503385de053ec5970068f05e34a27aae146d543","abstract_canon_sha256":"1ca2a9b6cb6b5594626c6985ff611f70af72360394f29f736a97f9fb6bfee96d"},"schema_version":"1.0"},"canonical_sha256":"be2d6be1a5a19d27220822eca1c891ecab2a7877fcc2a9c141c5790e30c8c497","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T19:11:01.650768Z","signature_b64":"9RdwlCxe6JuJbSQfOlhsfqrEHYCD5qZMU8fgYwZm+rRKVx7auf/+9MFR6vLNGE4NZy120ODIptZOMpZ20h54Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"be2d6be1a5a19d27220822eca1c891ecab2a7877fcc2a9c141c5790e30c8c497","last_reissued_at":"2026-06-04T19:11:01.650351Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T19:11:01.650351Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.08746","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":"2026-06-04T19:11:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ci/7yGg35WAVjc1koRPvhhqvR148HuIFeJnWiSm9uems2hl9iPPbn1mHUv/cbnE9LUCkQUCLIm5v+96jw4EHAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T18:58:55.028972Z"},"content_sha256":"2319871bdd2456809b63df7c24f3f705568e263543c61bdf71e73fda87c90b84","schema_version":"1.0","event_id":"sha256:2319871bdd2456809b63df7c24f3f705568e263543c61bdf71e73fda87c90b84"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:XYWWXYNFUGOSOIQIELWKDSER5S","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Ant\\'onio Pascoal, Cl\\'audia Soares, Jo\\~ao Gomes, Pusheng Ji","submitted_at":"2017-09-25T23:03:32Z","abstract_excerpt":"How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this problem from an optimization point of view: we directly optimize the nonconvex maximum-likelihood estimator in the presence of range measurements contaminated with Gaussian noise, and we obtain a provably convergent, accurate and distributed positioning algorithm that outperforms the extended Kalman filter, a standard centralized solution for this problem."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.08746","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/1709.08746/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":"2026-06-04T19:11:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pn7TRxKGRvbfZYkKAiNRkY29cmz456NB32EQxi7Tjb9iskk7giDj2PfRxeva7UfXbmfGlM4ENPJfUL3u3YHwDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T18:58:55.029363Z"},"content_sha256":"28e339be7c360fdf5b3453a4c1ffd0aa9fd3778c3a4050d1c079c6e8093e4333","schema_version":"1.0","event_id":"sha256:28e339be7c360fdf5b3453a4c1ffd0aa9fd3778c3a4050d1c079c6e8093e4333"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XYWWXYNFUGOSOIQIELWKDSER5S/bundle.json","state_url":"https://pith.science/pith/XYWWXYNFUGOSOIQIELWKDSER5S/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XYWWXYNFUGOSOIQIELWKDSER5S/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":"2026-06-27T18:58:55Z","links":{"resolver":"https://pith.science/pith/XYWWXYNFUGOSOIQIELWKDSER5S","bundle":"https://pith.science/pith/XYWWXYNFUGOSOIQIELWKDSER5S/bundle.json","state":"https://pith.science/pith/XYWWXYNFUGOSOIQIELWKDSER5S/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XYWWXYNFUGOSOIQIELWKDSER5S/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:XYWWXYNFUGOSOIQIELWKDSER5S","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":"1ca2a9b6cb6b5594626c6985ff611f70af72360394f29f736a97f9fb6bfee96d","cross_cats_sorted":["cs.MA","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2017-09-25T23:03:32Z","title_canon_sha256":"95c9944de654c76113643cedc503385de053ec5970068f05e34a27aae146d543"},"schema_version":"1.0","source":{"id":"1709.08746","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.08746","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"arxiv_version","alias_value":"1709.08746v1","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.08746","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_12","alias_value":"XYWWXYNFUGOS","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_16","alias_value":"XYWWXYNFUGOSOIQI","created_at":"2026-06-04T19:11:01Z"},{"alias_kind":"pith_short_8","alias_value":"XYWWXYNF","created_at":"2026-06-04T19:11:01Z"}],"graph_snapshots":[{"event_id":"sha256:28e339be7c360fdf5b3453a4c1ffd0aa9fd3778c3a4050d1c079c6e8093e4333","target":"graph","created_at":"2026-06-04T19:11:01Z","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/1709.08746/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"How can teams of artificial agents localize and position themselves in GPS-denied environments? How can each agent determine its position from pairwise ranges, own velocity, and limited interaction with neighbors? This paper addresses this problem from an optimization point of view: we directly optimize the nonconvex maximum-likelihood estimator in the presence of range measurements contaminated with Gaussian noise, and we obtain a provably convergent, accurate and distributed positioning algorithm that outperforms the extended Kalman filter, a standard centralized solution for this problem.","authors_text":"Ant\\'onio Pascoal, Cl\\'audia Soares, Jo\\~ao Gomes, Pusheng Ji","cross_cats":["cs.MA","cs.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2017-09-25T23:03:32Z","title":"DIeSEL: DIstributed SElf-Localization of a network of underwater vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.08746","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":"sha256:2319871bdd2456809b63df7c24f3f705568e263543c61bdf71e73fda87c90b84","target":"record","created_at":"2026-06-04T19:11:01Z","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":"1ca2a9b6cb6b5594626c6985ff611f70af72360394f29f736a97f9fb6bfee96d","cross_cats_sorted":["cs.MA","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2017-09-25T23:03:32Z","title_canon_sha256":"95c9944de654c76113643cedc503385de053ec5970068f05e34a27aae146d543"},"schema_version":"1.0","source":{"id":"1709.08746","kind":"arxiv","version":1}},"canonical_sha256":"be2d6be1a5a19d27220822eca1c891ecab2a7877fcc2a9c141c5790e30c8c497","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"be2d6be1a5a19d27220822eca1c891ecab2a7877fcc2a9c141c5790e30c8c497","first_computed_at":"2026-06-04T19:11:01.650351Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T19:11:01.650351Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9RdwlCxe6JuJbSQfOlhsfqrEHYCD5qZMU8fgYwZm+rRKVx7auf/+9MFR6vLNGE4NZy120ODIptZOMpZ20h54Cg==","signature_status":"signed_v1","signed_at":"2026-06-04T19:11:01.650768Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.08746","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2319871bdd2456809b63df7c24f3f705568e263543c61bdf71e73fda87c90b84","sha256:28e339be7c360fdf5b3453a4c1ffd0aa9fd3778c3a4050d1c079c6e8093e4333"],"state_sha256":"e500a46133364faa1adc00e5e5a82753494346c20127a92a5957a2279604efcd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TqcztmtlQdZ1Sq1v3PcUl+fX+Kd9Ec4Pk09xLPtEdPxfLJiqfZ+4Wt+ccYEQkkfNsWlmsBMziLvFXLtnfyboBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T18:58:55.031328Z","bundle_sha256":"1e7337b55be53ac02746ef551f457a757f79b564fcaf0189de059455bdf43a5c"}}