{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:57MX7MPRURMJTEI5V4MWM7YYDE","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":"5e192fe8f92c0399a3e977a63511519cdd80f0f35a853dc474039ddafe7cf8fe","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2024-04-30T12:49:54Z","title_canon_sha256":"2a10c32ceb66ff8d4b1498bb2c2b1b8b8e2f9f9d6ea66274c0e126c9756d0454"},"schema_version":"1.0","source":{"id":"2404.19518","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.19518","created_at":"2026-07-05T08:13:44Z"},{"alias_kind":"arxiv_version","alias_value":"2404.19518v1","created_at":"2026-07-05T08:13:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.19518","created_at":"2026-07-05T08:13:44Z"},{"alias_kind":"pith_short_12","alias_value":"57MX7MPRURMJ","created_at":"2026-07-05T08:13:44Z"},{"alias_kind":"pith_short_16","alias_value":"57MX7MPRURMJTEI5","created_at":"2026-07-05T08:13:44Z"},{"alias_kind":"pith_short_8","alias_value":"57MX7MPR","created_at":"2026-07-05T08:13:44Z"}],"graph_snapshots":[{"event_id":"sha256:ef101299434b39a5541e41fae0533f119b59edeadffc4ad28fbb428bad514d73","target":"graph","created_at":"2026-07-05T08:13:44Z","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/2404.19518/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the expansion of the scale of robotics applications, the multi-goal multi-agent pathfinding (MG-MAPF) problem began to gain widespread attention. This problem requires each agent to visit pre-assigned multiple goal points at least once without conflict. Some previous methods have been proposed to solve the MG-MAPF problem based on Decoupling the goal Vertex visiting order search and the Single-agent pathfinding (DVS). However, this paper demonstrates that the methods based on DVS cannot always obtain the optimal solution. To obtain the optimal result, we propose the Multi-Goal Conflict-Ba","authors_text":"Hongji Liu, Lujia Wang, Mingkai Tang, Ming Liu, Yingbing Chen, Yuanhang Li","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2024-04-30T12:49:54Z","title":"MGCBS: An Optimal and Efficient Algorithm for Solving Multi-Goal Multi-Agent Path Finding Problem"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.19518","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":"sha256:6c1927925839a8905577d837a9dd4f9cfb23af0b7ea1c1c7fcbab702c23140d9","target":"record","created_at":"2026-07-05T08:13:44Z","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":"5e192fe8f92c0399a3e977a63511519cdd80f0f35a853dc474039ddafe7cf8fe","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2024-04-30T12:49:54Z","title_canon_sha256":"2a10c32ceb66ff8d4b1498bb2c2b1b8b8e2f9f9d6ea66274c0e126c9756d0454"},"schema_version":"1.0","source":{"id":"2404.19518","kind":"arxiv","version":1}},"canonical_sha256":"efd97fb1f1a45899911daf19667f181920715a02b45d43beed4ff78d7234f5dc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"efd97fb1f1a45899911daf19667f181920715a02b45d43beed4ff78d7234f5dc","first_computed_at":"2026-07-05T08:13:44.594011Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:13:44.594011Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"X3O+Iwa+J22Lv2BZxyHRGzQHHZdtwFThpDCRDYUvr5NqJzNLkM/PiLHSuqUkhypFpauejKuxXtHMvck+Ie4OBg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:13:44.594720Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.19518","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6c1927925839a8905577d837a9dd4f9cfb23af0b7ea1c1c7fcbab702c23140d9","sha256:ef101299434b39a5541e41fae0533f119b59edeadffc4ad28fbb428bad514d73"],"state_sha256":"2c2288767f915995c58f626bb0244a47fb0d38c6576436ec393dce8240253daa"}