{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:7IJ2DC6ECHPGBBTNGT2A7TAOGF","short_pith_number":"pith:7IJ2DC6E","canonical_record":{"source":{"id":"1312.1038","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2013-12-04T06:25:24Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9f20f44586901b0e2f1f745b4992b4791ebbbbffcfffa1787efd3ab08d209d1f","abstract_canon_sha256":"21c300b517315e0e6148cfb464ca4a102fd1de4fb293c22b58ebb606df966332"},"schema_version":"1.0"},"canonical_sha256":"fa13a18bc411de60866d34f40fcc0e314a2fe3567c94eb555ea62f059444a720","source":{"kind":"arxiv","id":"1312.1038","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1312.1038","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"arxiv_version","alias_value":"1312.1038v3","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1312.1038","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"pith_short_12","alias_value":"7IJ2DC6ECHPG","created_at":"2026-05-18T12:27:36Z"},{"alias_kind":"pith_short_16","alias_value":"7IJ2DC6ECHPGBBTN","created_at":"2026-05-18T12:27:36Z"},{"alias_kind":"pith_short_8","alias_value":"7IJ2DC6E","created_at":"2026-05-18T12:27:36Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:7IJ2DC6ECHPGBBTNGT2A7TAOGF","target":"record","payload":{"canonical_record":{"source":{"id":"1312.1038","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2013-12-04T06:25:24Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"9f20f44586901b0e2f1f745b4992b4791ebbbbffcfffa1787efd3ab08d209d1f","abstract_canon_sha256":"21c300b517315e0e6148cfb464ca4a102fd1de4fb293c22b58ebb606df966332"},"schema_version":"1.0"},"canonical_sha256":"fa13a18bc411de60866d34f40fcc0e314a2fe3567c94eb555ea62f059444a720","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:28:48.099130Z","signature_b64":"x7Qqp4CJjEaS6UAjtDiuentt4DkbkvZNCT3h0zlINJdTKQo6v0IOMjzMDBShg3UfJdB/q9ebDw9v9DPwBfOjCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa13a18bc411de60866d34f40fcc0e314a2fe3567c94eb555ea62f059444a720","last_reissued_at":"2026-05-18T02:28:48.098706Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:28:48.098706Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1312.1038","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:28:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Mic0pltkNf8yM/uTCeZnOM6i5vJc0M/fuvReKmwXtiffmGzl8J8KH2K4q770ISdBYoDuepVZ/N3Te54EZOM1Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T20:08:55.705881Z"},"content_sha256":"eb28f95d77320ef2586ec04b58101e9c16a6f09a5e5e5b86b8dc0cfc76db7867","schema_version":"1.0","event_id":"sha256:eb28f95d77320ef2586ec04b58101e9c16a6f09a5e5e5b86b8dc0cfc76db7867"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:7IJ2DC6ECHPGBBTNGT2A7TAOGF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CG","authors_text":"Aviv Adler, Dan Halperin, Kiril Solovey, Mark de Berg","submitted_at":"2013-12-04T06:25:24Z","abstract_excerpt":"We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sha"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1312.1038","kind":"arxiv","version":3},"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":"2026-05-18T02:28:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7RkdBmKXG4G1bwtdkRJqEsJajsMtAvAELGu8nfIkmv9JY9mnzh1InF99KNgFTzJ6kLCh+DzyLYgIADPGBPdaAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T20:08:55.706218Z"},"content_sha256":"529a67d9ca6b5bfefd79fb92f29b71440b5fc3a6d9c1aa8b41a290bf7775f8d2","schema_version":"1.0","event_id":"sha256:529a67d9ca6b5bfefd79fb92f29b71440b5fc3a6d9c1aa8b41a290bf7775f8d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/bundle.json","state_url":"https://pith.science/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/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":"2026-06-01T20:08:55Z","links":{"resolver":"https://pith.science/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF","bundle":"https://pith.science/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/bundle.json","state":"https://pith.science/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7IJ2DC6ECHPGBBTNGT2A7TAOGF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:7IJ2DC6ECHPGBBTNGT2A7TAOGF","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":"21c300b517315e0e6148cfb464ca4a102fd1de4fb293c22b58ebb606df966332","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2013-12-04T06:25:24Z","title_canon_sha256":"9f20f44586901b0e2f1f745b4992b4791ebbbbffcfffa1787efd3ab08d209d1f"},"schema_version":"1.0","source":{"id":"1312.1038","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1312.1038","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"arxiv_version","alias_value":"1312.1038v3","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1312.1038","created_at":"2026-05-18T02:28:48Z"},{"alias_kind":"pith_short_12","alias_value":"7IJ2DC6ECHPG","created_at":"2026-05-18T12:27:36Z"},{"alias_kind":"pith_short_16","alias_value":"7IJ2DC6ECHPGBBTN","created_at":"2026-05-18T12:27:36Z"},{"alias_kind":"pith_short_8","alias_value":"7IJ2DC6E","created_at":"2026-05-18T12:27:36Z"}],"graph_snapshots":[{"event_id":"sha256:529a67d9ca6b5bfefd79fb92f29b71440b5fc3a6d9c1aa8b41a290bf7775f8d2","target":"graph","created_at":"2026-05-18T02:28:48Z","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":"We consider the following motion-planning problem: we are given $m$ unit discs in a simple polygon with $n$ vertices, each at their own start position, and we want to move the discs to a given set of $m$ target positions. Contrary to the standard (labeled) version of the problem, each disc is allowed to be moved to any target position, as long as in the end every target position is occupied. We show that this unlabeled version of the problem can be solved in $O(n\\log n+mn+m^2)$ time, assuming that the start and target positions are at least some minimal distance from each other. This is in sha","authors_text":"Aviv Adler, Dan Halperin, Kiril Solovey, Mark de Berg","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2013-12-04T06:25:24Z","title":"Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1312.1038","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:eb28f95d77320ef2586ec04b58101e9c16a6f09a5e5e5b86b8dc0cfc76db7867","target":"record","created_at":"2026-05-18T02:28:48Z","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":"21c300b517315e0e6148cfb464ca4a102fd1de4fb293c22b58ebb606df966332","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2013-12-04T06:25:24Z","title_canon_sha256":"9f20f44586901b0e2f1f745b4992b4791ebbbbffcfffa1787efd3ab08d209d1f"},"schema_version":"1.0","source":{"id":"1312.1038","kind":"arxiv","version":3}},"canonical_sha256":"fa13a18bc411de60866d34f40fcc0e314a2fe3567c94eb555ea62f059444a720","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa13a18bc411de60866d34f40fcc0e314a2fe3567c94eb555ea62f059444a720","first_computed_at":"2026-05-18T02:28:48.098706Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:28:48.098706Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x7Qqp4CJjEaS6UAjtDiuentt4DkbkvZNCT3h0zlINJdTKQo6v0IOMjzMDBShg3UfJdB/q9ebDw9v9DPwBfOjCw==","signature_status":"signed_v1","signed_at":"2026-05-18T02:28:48.099130Z","signed_message":"canonical_sha256_bytes"},"source_id":"1312.1038","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:eb28f95d77320ef2586ec04b58101e9c16a6f09a5e5e5b86b8dc0cfc76db7867","sha256:529a67d9ca6b5bfefd79fb92f29b71440b5fc3a6d9c1aa8b41a290bf7775f8d2"],"state_sha256":"eb94cc7ca748e41d89bc473e5154cfe7e4ad04a6a27ca7b6d2996dcd8376cc22"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Riedr+xsl6OVIhhUV4JIEv8D5Q74H08ZT7UgtlunRFVM0ftpDEYRDfZzw2LftWxNoG+R+c0aJBqt4NXEMfriDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T20:08:55.708094Z","bundle_sha256":"55e2014217fde0639e76cc62c7e4d032be17b35781f773ad469e1cb408a5c2b3"}}