{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:3S6DAVMDAH3DMALTDHXRBRCWDK","short_pith_number":"pith:3S6DAVMD","canonical_record":{"source":{"id":"1302.2828","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-12T15:47:43Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"ad5c70e64ffb0ea6511758f1b9f6c587a61dfa485d217b363040c4b9ae9c27de","abstract_canon_sha256":"f97c7c645e2f5c0ef24dc9c0876a47d1b546f18ebe85886f3d97ce23027e3f99"},"schema_version":"1.0"},"canonical_sha256":"dcbc30558301f636017319ef10c4561aa1cfd3248e404a99d1ebdd2f55071be2","source":{"kind":"arxiv","id":"1302.2828","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1302.2828","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"arxiv_version","alias_value":"1302.2828v1","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1302.2828","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"pith_short_12","alias_value":"3S6DAVMDAH3D","created_at":"2026-05-18T12:27:32Z"},{"alias_kind":"pith_short_16","alias_value":"3S6DAVMDAH3DMALT","created_at":"2026-05-18T12:27:32Z"},{"alias_kind":"pith_short_8","alias_value":"3S6DAVMD","created_at":"2026-05-18T12:27:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:3S6DAVMDAH3DMALTDHXRBRCWDK","target":"record","payload":{"canonical_record":{"source":{"id":"1302.2828","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-12T15:47:43Z","cross_cats_sorted":["cs.AI","cs.MA"],"title_canon_sha256":"ad5c70e64ffb0ea6511758f1b9f6c587a61dfa485d217b363040c4b9ae9c27de","abstract_canon_sha256":"f97c7c645e2f5c0ef24dc9c0876a47d1b546f18ebe85886f3d97ce23027e3f99"},"schema_version":"1.0"},"canonical_sha256":"dcbc30558301f636017319ef10c4561aa1cfd3248e404a99d1ebdd2f55071be2","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:33:50.704771Z","signature_b64":"mOFPnAQJxC8curU4QzRUD+1If3lFGDFcfNlFDjNZWmS0NdMWRteLkB6u3FJwszsAc6hJRgTtOO2N3KtrkE4DDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dcbc30558301f636017319ef10c4561aa1cfd3248e404a99d1ebdd2f55071be2","last_reissued_at":"2026-05-18T03:33:50.704103Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:33:50.704103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1302.2828","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":"2026-05-18T03:33:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OtYBW4p522E5V0ODCRsC65lbCy5bWzueJUNAmsKgDZ2km80e//RkTNDETbc4ePsS2KuxSgwhFxkyo3fRVkGbCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T08:23:22.425362Z"},"content_sha256":"8f34be43d69e631c51f16107c3150b57e8954900e4efb41e052b0b9cee734eff","schema_version":"1.0","event_id":"sha256:8f34be43d69e631c51f16107c3150b57e8954900e4efb41e052b0b9cee734eff"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:3S6DAVMDAH3DMALTDHXRBRCWDK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-agent RRT*: Sampling-based Cooperative Pathfinding (Extended Abstract)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.MA"],"primary_cat":"cs.RO","authors_text":"Ji\\v{r}\\'i Vok\\v{r}\\'inek, Michal P\\v{e}chou\\v{c}ek, Michal \\v{C}\\'ap, Peter Nov\\'ak","submitted_at":"2013-02-12T15:47:43Z","abstract_excerpt":"Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT*, a novel algorithm for multi-agent path planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm for finding single-agent sho"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1302.2828","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":""},"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":"2026-05-18T03:33:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UYnQd+pK1Deh0WbmxJI0/aJoCzBNYkQokOaQJCrq8dtzqPAaxO/8DpHXrcL1RJE4oJg4WeC9hwBhf3T9HzQSBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T08:23:22.425717Z"},"content_sha256":"e6d08d3b0c37c55bc1b11c4f14bed92bae6883b37f129cff5bfb2a7c4674395a","schema_version":"1.0","event_id":"sha256:e6d08d3b0c37c55bc1b11c4f14bed92bae6883b37f129cff5bfb2a7c4674395a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/bundle.json","state_url":"https://pith.science/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/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":"2026-06-05T08:23:22Z","links":{"resolver":"https://pith.science/pith/3S6DAVMDAH3DMALTDHXRBRCWDK","bundle":"https://pith.science/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/bundle.json","state":"https://pith.science/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3S6DAVMDAH3DMALTDHXRBRCWDK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:3S6DAVMDAH3DMALTDHXRBRCWDK","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":"f97c7c645e2f5c0ef24dc9c0876a47d1b546f18ebe85886f3d97ce23027e3f99","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-12T15:47:43Z","title_canon_sha256":"ad5c70e64ffb0ea6511758f1b9f6c587a61dfa485d217b363040c4b9ae9c27de"},"schema_version":"1.0","source":{"id":"1302.2828","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1302.2828","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"arxiv_version","alias_value":"1302.2828v1","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1302.2828","created_at":"2026-05-18T03:33:50Z"},{"alias_kind":"pith_short_12","alias_value":"3S6DAVMDAH3D","created_at":"2026-05-18T12:27:32Z"},{"alias_kind":"pith_short_16","alias_value":"3S6DAVMDAH3DMALT","created_at":"2026-05-18T12:27:32Z"},{"alias_kind":"pith_short_8","alias_value":"3S6DAVMD","created_at":"2026-05-18T12:27:32Z"}],"graph_snapshots":[{"event_id":"sha256:e6d08d3b0c37c55bc1b11c4f14bed92bae6883b37f129cff5bfb2a7c4674395a","target":"graph","created_at":"2026-05-18T03:33:50Z","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":"Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT*, a novel algorithm for multi-agent path planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm for finding single-agent sho","authors_text":"Ji\\v{r}\\'i Vok\\v{r}\\'inek, Michal P\\v{e}chou\\v{c}ek, Michal \\v{C}\\'ap, Peter Nov\\'ak","cross_cats":["cs.AI","cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-12T15:47:43Z","title":"Multi-agent RRT*: Sampling-based Cooperative Pathfinding (Extended Abstract)"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1302.2828","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":"sha256:8f34be43d69e631c51f16107c3150b57e8954900e4efb41e052b0b9cee734eff","target":"record","created_at":"2026-05-18T03:33:50Z","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":"f97c7c645e2f5c0ef24dc9c0876a47d1b546f18ebe85886f3d97ce23027e3f99","cross_cats_sorted":["cs.AI","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2013-02-12T15:47:43Z","title_canon_sha256":"ad5c70e64ffb0ea6511758f1b9f6c587a61dfa485d217b363040c4b9ae9c27de"},"schema_version":"1.0","source":{"id":"1302.2828","kind":"arxiv","version":1}},"canonical_sha256":"dcbc30558301f636017319ef10c4561aa1cfd3248e404a99d1ebdd2f55071be2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dcbc30558301f636017319ef10c4561aa1cfd3248e404a99d1ebdd2f55071be2","first_computed_at":"2026-05-18T03:33:50.704103Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:33:50.704103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mOFPnAQJxC8curU4QzRUD+1If3lFGDFcfNlFDjNZWmS0NdMWRteLkB6u3FJwszsAc6hJRgTtOO2N3KtrkE4DDg==","signature_status":"signed_v1","signed_at":"2026-05-18T03:33:50.704771Z","signed_message":"canonical_sha256_bytes"},"source_id":"1302.2828","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f34be43d69e631c51f16107c3150b57e8954900e4efb41e052b0b9cee734eff","sha256:e6d08d3b0c37c55bc1b11c4f14bed92bae6883b37f129cff5bfb2a7c4674395a"],"state_sha256":"b071dedca145b60f37a763edfc7d811a4ae5a25cf93bc00724967419a736a100"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"b97SURMqzOQ33VpKRlvYZTSbDR0+ottFxAWty5Pj7W3E/Qha7mkF5VrNwjg+3bIZlL2FnroQ4i+/wlAvPyTRCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T08:23:22.428177Z","bundle_sha256":"bed6c0c76a1e68b369a4fe5ef1a5b5b62b0e4205bb4ae4d590d1c99718827a25"}}