{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZNQG2J6P26VE3N3BFFES4M4CQF","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":"5c0aa19d23d792365f549520eb92c43ead5ef58494b013a63fafae6481676c81","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T08:58:29Z","title_canon_sha256":"e53f1dc92dca582756e4eb461d6ead242ee5b7380f176295e8b3ee94d6687b4e"},"schema_version":"1.0","source":{"id":"2605.23386","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.23386","created_at":"2026-05-25T02:01:51Z"},{"alias_kind":"arxiv_version","alias_value":"2605.23386v1","created_at":"2026-05-25T02:01:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.23386","created_at":"2026-05-25T02:01:51Z"},{"alias_kind":"pith_short_12","alias_value":"ZNQG2J6P26VE","created_at":"2026-05-25T02:01:51Z"},{"alias_kind":"pith_short_16","alias_value":"ZNQG2J6P26VE3N3B","created_at":"2026-05-25T02:01:51Z"},{"alias_kind":"pith_short_8","alias_value":"ZNQG2J6P","created_at":"2026-05-25T02:01:51Z"}],"graph_snapshots":[{"event_id":"sha256:fa239555dd11cbb3190c666836706b79c7e3ec336d4dcf7203d30436cd9a555e","target":"graph","created_at":"2026-05-25T02:01:51Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2605.23386/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Agricultural UAV research requires simulators that integrate realistic 3D scenes, high-fidelity vehicle dynamics, and robotics middleware, while remaining practical to deploy across heterogeneous development machines. We present Droneulator, a portable UAV simulator architecture that combines RotorPy for multirotor dynamics with Godot 4 for rendering and sensor generation. Droneulator exposes both PX4-based control and a lightweight WebSocket command path, and publishes synchronised visual and state streams through a Zenoh-based ROS~2-compatible pipeline. This integration enables a single stac","authors_text":"Jacob Swindell, Marija Popovic, Michael Lowen, Riccardo Polvara","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T08:58:29Z","title":"Droneulator: A Portable UAV Simulator for Agricultural Workflows with RotorPy and Godot 4"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.23386","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:f676adce02bbd910360f5ecb6c2705ec5e7a5ea9f3bff10faaf73c2a668acea7","target":"record","created_at":"2026-05-25T02:01:51Z","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":"5c0aa19d23d792365f549520eb92c43ead5ef58494b013a63fafae6481676c81","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-22T08:58:29Z","title_canon_sha256":"e53f1dc92dca582756e4eb461d6ead242ee5b7380f176295e8b3ee94d6687b4e"},"schema_version":"1.0","source":{"id":"2605.23386","kind":"arxiv","version":1}},"canonical_sha256":"cb606d27cfd7aa4db76129492e3382817576736c8281f2619c7093ded1de7bc5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cb606d27cfd7aa4db76129492e3382817576736c8281f2619c7093ded1de7bc5","first_computed_at":"2026-05-25T02:01:51.934488Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-25T02:01:51.934488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"d7bJT0/CPdANYpOIc6gYQg7iXZb6JRE3MYvvVr4a/agKROa3j/RExoHXuAQiG1LW1dFWblotuv7YRAQs7CLoDA==","signature_status":"signed_v1","signed_at":"2026-05-25T02:01:51.934991Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.23386","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f676adce02bbd910360f5ecb6c2705ec5e7a5ea9f3bff10faaf73c2a668acea7","sha256:fa239555dd11cbb3190c666836706b79c7e3ec336d4dcf7203d30436cd9a555e"],"state_sha256":"19b8b3776a56570cd65950fda30e144226ea2e2bf25c3cf5d403296cdac0d2ae"}