{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:6YCBC5KAJ3I4DEUTTECMSMGPTH","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":"1864c640c4389ac7dc44bfcfaa0c601ef8782c6c2ae1b5ac4901d2c7ea9387dc","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2014-02-15T23:55:12Z","title_canon_sha256":"ceab5014ace576c3d692ad42060b9f3eb410fcce6e9195f0bf94149b5d4e1428"},"schema_version":"1.0","source":{"id":"1402.3735","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1402.3735","created_at":"2026-06-04T14:09:26Z"},{"alias_kind":"arxiv_version","alias_value":"1402.3735v3","created_at":"2026-06-04T14:09:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1402.3735","created_at":"2026-06-04T14:09:26Z"},{"alias_kind":"pith_short_12","alias_value":"6YCBC5KAJ3I4","created_at":"2026-06-04T14:09:26Z"},{"alias_kind":"pith_short_16","alias_value":"6YCBC5KAJ3I4DEUT","created_at":"2026-06-04T14:09:26Z"},{"alias_kind":"pith_short_8","alias_value":"6YCBC5KA","created_at":"2026-06-04T14:09:26Z"}],"graph_snapshots":[{"event_id":"sha256:8d8c7a92c4aeb4dba300abeb64d1fe6c92eaa9f6e691bff2fcb1a3f568dd93dc","target":"graph","created_at":"2026-06-04T14:09:26Z","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/1402.3735/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set invariance. A family of Lyapunov-like functions is employed to encode the (local) decision making among candidate goal assignments, under which a group of connected agents chooses the assignment that results in the shortest total distance to the goals. An additional family of Lyapunov-like barrier functions is activated in the case when the optimal assignment","authors_text":"Dimitra Panagou, Matthew Turpin, Vijay Kumar","cross_cats":["cs.RO","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2014-02-15T23:55:12Z","title":"Decentralized Goal Assignment and Safe Trajectory Generation in Multi-Robot Networks via Multiple Lyapunov Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1402.3735","kind":"arxiv","version":3},"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":"sha256:444b66aeb0328c59794f4780e4badb97a03e7e29d0d078bf4cc044c8b35b9b14","target":"record","created_at":"2026-06-04T14:09:26Z","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":"1864c640c4389ac7dc44bfcfaa0c601ef8782c6c2ae1b5ac4901d2c7ea9387dc","cross_cats_sorted":["cs.RO","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2014-02-15T23:55:12Z","title_canon_sha256":"ceab5014ace576c3d692ad42060b9f3eb410fcce6e9195f0bf94149b5d4e1428"},"schema_version":"1.0","source":{"id":"1402.3735","kind":"arxiv","version":3}},"canonical_sha256":"f6041175404ed1c192939904c930cf99fc0f404523d00cf69bff118a2a6bf2ea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f6041175404ed1c192939904c930cf99fc0f404523d00cf69bff118a2a6bf2ea","first_computed_at":"2026-06-04T14:09:26.224694Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T14:09:26.224694Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bmsFcoaZfDR6DXGoyEXk2xeiPLtLfHACzHg9YZtZ+3Z8rectV5xAOi+jzaihZzg5UJolWn+6aZzlXcNUSyJ5CA==","signature_status":"signed_v1","signed_at":"2026-06-04T14:09:26.225194Z","signed_message":"canonical_sha256_bytes"},"source_id":"1402.3735","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:444b66aeb0328c59794f4780e4badb97a03e7e29d0d078bf4cc044c8b35b9b14","sha256:8d8c7a92c4aeb4dba300abeb64d1fe6c92eaa9f6e691bff2fcb1a3f568dd93dc"],"state_sha256":"e4c601db4ea6948a1e7bc88d31607a497a18e44b7871bc5d3ba43415c1822858"}