{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:2W2KVQYOZSG7ROU4G7PDIPLO2P","short_pith_number":"pith:2W2KVQYO","canonical_record":{"source":{"id":"1904.06224","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-04-12T13:20:14Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"509ab156234574340d85cf3010b6fde3cb1c95f42a6be8ec754c420c36123341","abstract_canon_sha256":"2a9616bfbd1f02b6fc713963a5873d8be66377bcb48e3fcd38f8f49f8b9e8be4"},"schema_version":"1.0"},"canonical_sha256":"d5b4aac30ecc8df8ba9c37de343d6ed3d4da36f62b8118c2bcfba9d4a3e0df36","source":{"kind":"arxiv","id":"1904.06224","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.06224","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"arxiv_version","alias_value":"1904.06224v2","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.06224","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_12","alias_value":"2W2KVQYOZSG7","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_16","alias_value":"2W2KVQYOZSG7ROU4","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_8","alias_value":"2W2KVQYO","created_at":"2026-06-04T20:14:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:2W2KVQYOZSG7ROU4G7PDIPLO2P","target":"record","payload":{"canonical_record":{"source":{"id":"1904.06224","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-04-12T13:20:14Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"509ab156234574340d85cf3010b6fde3cb1c95f42a6be8ec754c420c36123341","abstract_canon_sha256":"2a9616bfbd1f02b6fc713963a5873d8be66377bcb48e3fcd38f8f49f8b9e8be4"},"schema_version":"1.0"},"canonical_sha256":"d5b4aac30ecc8df8ba9c37de343d6ed3d4da36f62b8118c2bcfba9d4a3e0df36","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T20:14:24.813065Z","signature_b64":"/GFiH8/aCeaCkqfrFmuMK8I8pzm+2TpR7SOo0b0Y2RYw9aMpBVHp93JGc7g47Al6c6bWjuz+rHJpWt+Rz95IAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d5b4aac30ecc8df8ba9c37de343d6ed3d4da36f62b8118c2bcfba9d4a3e0df36","last_reissued_at":"2026-06-04T20:14:24.812616Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T20:14:24.812616Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.06224","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T20:14:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OijirnuhdndF3FIsQFWxfzPuY2ixgtf1mhs6C98GQus+qi6d9d2UM6NDQLZQqImg34JWkN41eljTJN4d8AWMCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T19:02:26.370601Z"},"content_sha256":"0eb01ea0c6892d2c097e5ba69bcd0aff0f36e61ba5385b6ed64e29bcd17807e3","schema_version":"1.0","event_id":"sha256:0eb01ea0c6892d2c097e5ba69bcd0aff0f36e61ba5385b6ed64e29bcd17807e3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:2W2KVQYOZSG7ROU4G7PDIPLO2P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Game-Theoretic Approach to Decision Making for Multiple Vehicles at Roundabout","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Chao Huang, J\\'er\\'emy Dubut, Masako Kishida, Sasinee Pruekprasert, Xiaoyi Zhang","submitted_at":"2019-04-12T13:20:14Z","abstract_excerpt":"In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed decision-making process that balances safety and speed of the vehicles. In the proposed process, each vehicle estimates other vehicles' aggressiveness and formulates the interactions among the vehicles as a finite sequential game. Based on the Nash equilibrium of this game, the vehicle predicts other vehicles' behaviours and makes decisions. We perform numerical"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.06224","kind":"arxiv","version":2},"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/1904.06224/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":"2026-06-04T20:14:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T/pRGikKPZs478lKP1KfugBisWmdvQUR3rgdHx8bQIN6z1ru/+PFZBFOeHVuQxtWrvn+pv1J1QNrtLbAZRIyCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-08T19:02:26.371420Z"},"content_sha256":"7e214b397364ad7035d92ec9218d8827850c8f644a455627d86fc0747a3cd616","schema_version":"1.0","event_id":"sha256:7e214b397364ad7035d92ec9218d8827850c8f644a455627d86fc0747a3cd616"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/bundle.json","state_url":"https://pith.science/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/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":"2026-06-08T19:02:26Z","links":{"resolver":"https://pith.science/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P","bundle":"https://pith.science/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/bundle.json","state":"https://pith.science/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2W2KVQYOZSG7ROU4G7PDIPLO2P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:2W2KVQYOZSG7ROU4G7PDIPLO2P","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":"2a9616bfbd1f02b6fc713963a5873d8be66377bcb48e3fcd38f8f49f8b9e8be4","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-04-12T13:20:14Z","title_canon_sha256":"509ab156234574340d85cf3010b6fde3cb1c95f42a6be8ec754c420c36123341"},"schema_version":"1.0","source":{"id":"1904.06224","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.06224","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"arxiv_version","alias_value":"1904.06224v2","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.06224","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_12","alias_value":"2W2KVQYOZSG7","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_16","alias_value":"2W2KVQYOZSG7ROU4","created_at":"2026-06-04T20:14:24Z"},{"alias_kind":"pith_short_8","alias_value":"2W2KVQYO","created_at":"2026-06-04T20:14:24Z"}],"graph_snapshots":[{"event_id":"sha256:7e214b397364ad7035d92ec9218d8827850c8f644a455627d86fc0747a3cd616","target":"graph","created_at":"2026-06-04T20:14:24Z","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/1904.06224/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed decision-making process that balances safety and speed of the vehicles. In the proposed process, each vehicle estimates other vehicles' aggressiveness and formulates the interactions among the vehicles as a finite sequential game. Based on the Nash equilibrium of this game, the vehicle predicts other vehicles' behaviours and makes decisions. We perform numerical","authors_text":"Chao Huang, J\\'er\\'emy Dubut, Masako Kishida, Sasinee Pruekprasert, Xiaoyi Zhang","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-04-12T13:20:14Z","title":"A Game-Theoretic Approach to Decision Making for Multiple Vehicles at Roundabout"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.06224","kind":"arxiv","version":2},"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":"sha256:0eb01ea0c6892d2c097e5ba69bcd0aff0f36e61ba5385b6ed64e29bcd17807e3","target":"record","created_at":"2026-06-04T20:14:24Z","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":"2a9616bfbd1f02b6fc713963a5873d8be66377bcb48e3fcd38f8f49f8b9e8be4","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-04-12T13:20:14Z","title_canon_sha256":"509ab156234574340d85cf3010b6fde3cb1c95f42a6be8ec754c420c36123341"},"schema_version":"1.0","source":{"id":"1904.06224","kind":"arxiv","version":2}},"canonical_sha256":"d5b4aac30ecc8df8ba9c37de343d6ed3d4da36f62b8118c2bcfba9d4a3e0df36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d5b4aac30ecc8df8ba9c37de343d6ed3d4da36f62b8118c2bcfba9d4a3e0df36","first_computed_at":"2026-06-04T20:14:24.812616Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T20:14:24.812616Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/GFiH8/aCeaCkqfrFmuMK8I8pzm+2TpR7SOo0b0Y2RYw9aMpBVHp93JGc7g47Al6c6bWjuz+rHJpWt+Rz95IAA==","signature_status":"signed_v1","signed_at":"2026-06-04T20:14:24.813065Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.06224","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0eb01ea0c6892d2c097e5ba69bcd0aff0f36e61ba5385b6ed64e29bcd17807e3","sha256:7e214b397364ad7035d92ec9218d8827850c8f644a455627d86fc0747a3cd616"],"state_sha256":"221e1705a65d758e48e355d3b3998e42c17988c0dc42752c7ea82b76b53f021e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XFBV9RVLbM+WnajC+n+ztITAp2g59IYgs44SHRdjbBFhfPkTS/U5fhWnGg7ldsXsf847DGcvRUgEsk+PTSwUCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-08T19:02:26.375368Z","bundle_sha256":"b894b31028808450a504ee3923dfb5b5458084e62d3e25d29183fddae6c53d88"}}