{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:2ADDB5JD2WSOEO6ROT2IA7KYD6","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":"595c913e9509fa3fb11627fcee33cf8675b738cbc3867d430b71493212824bfd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-02T09:08:49Z","title_canon_sha256":"72f126ca27787ed7a9359e41557c3bbe5c2a8408c3551bc26f95789a2fc1fded"},"schema_version":"1.0","source":{"id":"1904.01303","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.01303","created_at":"2026-05-17T23:49:35Z"},{"alias_kind":"arxiv_version","alias_value":"1904.01303v1","created_at":"2026-05-17T23:49:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.01303","created_at":"2026-05-17T23:49:35Z"},{"alias_kind":"pith_short_12","alias_value":"2ADDB5JD2WSO","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"2ADDB5JD2WSOEO6R","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"2ADDB5JD","created_at":"2026-05-18T12:33:07Z"}],"graph_snapshots":[{"event_id":"sha256:2598d8a95f1f8c0a2aa5c1cdf5be71729e91e084e829b67d568eba6b9f862ea8","target":"graph","created_at":"2026-05-17T23:49:35Z","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":"In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics systems. Particularly, we solve the life-long planning problem and guarantee the coordination performance of large-scale robot network in the presence of robot motion uncertainties and communication failures. A hierarchical planning and coordination structure is presented. The environment is divided into several sectors and a dynamic traffic heat-map is gen","authors_text":"Hesheng Wang, Shunbo Zhou, Yi Shen, Yun-hui Liu, Zhe Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-02T09:08:49Z","title":"Coordinating Large-Scale Robot Networks with Motion and Communication Uncertainties for Logistics Applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.01303","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":"sha256:3ecc2d57960d23c3bb65f9c62752e0f8724494871ac5909d28095b0be4c26a13","target":"record","created_at":"2026-05-17T23:49:35Z","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":"595c913e9509fa3fb11627fcee33cf8675b738cbc3867d430b71493212824bfd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-02T09:08:49Z","title_canon_sha256":"72f126ca27787ed7a9359e41557c3bbe5c2a8408c3551bc26f95789a2fc1fded"},"schema_version":"1.0","source":{"id":"1904.01303","kind":"arxiv","version":1}},"canonical_sha256":"d00630f523d5a4e23bd174f4807d581f803c6f5387d11bfb10b687683124b718","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d00630f523d5a4e23bd174f4807d581f803c6f5387d11bfb10b687683124b718","first_computed_at":"2026-05-17T23:49:35.173588Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:49:35.173588Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"E0mmLVLw+hudDHou+a3T0P/yUukaxpKxFEJBsNk/WEzDShgS2MR9G9+qPO1jTt4XEbTs597mCDaZkWhIF/HnDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:49:35.174252Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.01303","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3ecc2d57960d23c3bb65f9c62752e0f8724494871ac5909d28095b0be4c26a13","sha256:2598d8a95f1f8c0a2aa5c1cdf5be71729e91e084e829b67d568eba6b9f862ea8"],"state_sha256":"dc2cadea691b88bb240dfd9a45f183320267902157174076361a30f47a45473a"}