{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:AZ4NE4O6AEMCQ7TPA6HRBVV77Q","short_pith_number":"pith:AZ4NE4O6","canonical_record":{"source":{"id":"2301.04446","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2023-01-11T13:04:35Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"83d5d1bd6679767ef3373c9290b51a542df7e22c3ff016bb7dc854f775280a5b","abstract_canon_sha256":"db2ca706d94c0578406a26eb6f2d784999a483117553e07b5962167e97d2952b"},"schema_version":"1.0"},"canonical_sha256":"0678d271de0118287e6f078f10d6bffc045829c3413568a1eacb0dd143cb4b6e","source":{"kind":"arxiv","id":"2301.04446","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.04446","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"arxiv_version","alias_value":"2301.04446v1","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.04446","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_12","alias_value":"AZ4NE4O6AEMC","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"AZ4NE4O6AEMCQ7TP","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"AZ4NE4O6","created_at":"2026-07-05T05:32:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:AZ4NE4O6AEMCQ7TPA6HRBVV77Q","target":"record","payload":{"canonical_record":{"source":{"id":"2301.04446","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2023-01-11T13:04:35Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"83d5d1bd6679767ef3373c9290b51a542df7e22c3ff016bb7dc854f775280a5b","abstract_canon_sha256":"db2ca706d94c0578406a26eb6f2d784999a483117553e07b5962167e97d2952b"},"schema_version":"1.0"},"canonical_sha256":"0678d271de0118287e6f078f10d6bffc045829c3413568a1eacb0dd143cb4b6e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:32:25.777297Z","signature_b64":"M/SekERLVKy3SFWn1po+lW0KyHyJBHN3OCmu9vu84N0g3Skd6uAC+UxBiSF7UGFXV1A/isTf5CfzxkRV6dW4Bw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0678d271de0118287e6f078f10d6bffc045829c3413568a1eacb0dd143cb4b6e","last_reissued_at":"2026-07-05T05:32:25.776826Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:32:25.776826Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.04446","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":"2026-07-05T05:32:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LayXxBBjrnbwPcErmMciShXB840fvThb0Y9NG22xnmqVTguYMQUFop2soB19dp5x9slQ1lMsI6pOPZCWBQTaBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T07:55:08.333709Z"},"content_sha256":"8d957fe5f8b25ff4478981573dc2d93a023caf1b58a749c80301bb9c65261c94","schema_version":"1.0","event_id":"sha256:8d957fe5f8b25ff4478981573dc2d93a023caf1b58a749c80301bb9c65261c94"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:AZ4NE4O6AEMCQ7TPA6HRBVV77Q","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"An Efficient Approach to the Online Multi-Agent Path Finding Problem by Using Sustainable Information","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.RO"],"primary_cat":"cs.MA","authors_text":"Boyi Liu, Hongji Liu, Lujia Wang, Mingkai Tang, Ming Liu, Yuanhang Li","submitted_at":"2023-01-11T13:04:35Z","abstract_excerpt":"Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about future agents. The inability of existing online methods to reuse previous planning contexts results in redundant computation and reduces algorithm efficiency. Hence, we propose a three-level approach to solve online MAPF utilizing sustainable information, which can decrease its redundant calculations. The high-level solver, the Sustainable Replan algorithm (SR), "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.04446","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2301.04446/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":"2026-07-05T05:32:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"crxz0BHk+eMQstY+J3LB9UqX2aVySdjDkRzbzj8SNq2xuq3cuLtSFWG1w31genHGhVJ0eG64CT9jkHs5wAB/Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T07:55:08.334640Z"},"content_sha256":"0ffc58ae795217c746fcfcff0597909fcb68af2d21ee754da55edc6d1ed70526","schema_version":"1.0","event_id":"sha256:0ffc58ae795217c746fcfcff0597909fcb68af2d21ee754da55edc6d1ed70526"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/bundle.json","state_url":"https://pith.science/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/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":"2026-08-21T07:55:08Z","links":{"resolver":"https://pith.science/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q","bundle":"https://pith.science/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/bundle.json","state":"https://pith.science/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AZ4NE4O6AEMCQ7TPA6HRBVV77Q/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:AZ4NE4O6AEMCQ7TPA6HRBVV77Q","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":"db2ca706d94c0578406a26eb6f2d784999a483117553e07b5962167e97d2952b","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2023-01-11T13:04:35Z","title_canon_sha256":"83d5d1bd6679767ef3373c9290b51a542df7e22c3ff016bb7dc854f775280a5b"},"schema_version":"1.0","source":{"id":"2301.04446","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.04446","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"arxiv_version","alias_value":"2301.04446v1","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.04446","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_12","alias_value":"AZ4NE4O6AEMC","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_16","alias_value":"AZ4NE4O6AEMCQ7TP","created_at":"2026-07-05T05:32:25Z"},{"alias_kind":"pith_short_8","alias_value":"AZ4NE4O6","created_at":"2026-07-05T05:32:25Z"}],"graph_snapshots":[{"event_id":"sha256:0ffc58ae795217c746fcfcff0597909fcb68af2d21ee754da55edc6d1ed70526","target":"graph","created_at":"2026-07-05T05:32:25Z","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/2301.04446/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about future agents. The inability of existing online methods to reuse previous planning contexts results in redundant computation and reduces algorithm efficiency. Hence, we propose a three-level approach to solve online MAPF utilizing sustainable information, which can decrease its redundant calculations. The high-level solver, the Sustainable Replan algorithm (SR), ","authors_text":"Boyi Liu, Hongji Liu, Lujia Wang, Mingkai Tang, Ming Liu, Yuanhang Li","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2023-01-11T13:04:35Z","title":"An Efficient Approach to the Online Multi-Agent Path Finding Problem by Using Sustainable Information"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.04446","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":"sha256:8d957fe5f8b25ff4478981573dc2d93a023caf1b58a749c80301bb9c65261c94","target":"record","created_at":"2026-07-05T05:32:25Z","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":"db2ca706d94c0578406a26eb6f2d784999a483117553e07b5962167e97d2952b","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2023-01-11T13:04:35Z","title_canon_sha256":"83d5d1bd6679767ef3373c9290b51a542df7e22c3ff016bb7dc854f775280a5b"},"schema_version":"1.0","source":{"id":"2301.04446","kind":"arxiv","version":1}},"canonical_sha256":"0678d271de0118287e6f078f10d6bffc045829c3413568a1eacb0dd143cb4b6e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0678d271de0118287e6f078f10d6bffc045829c3413568a1eacb0dd143cb4b6e","first_computed_at":"2026-07-05T05:32:25.776826Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:32:25.776826Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"M/SekERLVKy3SFWn1po+lW0KyHyJBHN3OCmu9vu84N0g3Skd6uAC+UxBiSF7UGFXV1A/isTf5CfzxkRV6dW4Bw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:32:25.777297Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.04446","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8d957fe5f8b25ff4478981573dc2d93a023caf1b58a749c80301bb9c65261c94","sha256:0ffc58ae795217c746fcfcff0597909fcb68af2d21ee754da55edc6d1ed70526"],"state_sha256":"b4ff4ce0c33bc7345cb14035b8d63c7088746e19b4f9e717a097c59c4ddd3996"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ukLb/OMTz27SFQ1MvCiAZqC2f5PR+Z35dNI2vEULt2PT4vxorK2PtbkHz/aoK4AEpdTeiDo1WkbZCAFJqs2yAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T07:55:08.341211Z","bundle_sha256":"d257bb9e1f042faa4b196af69172fd60d1928ce1e14d29076dcb38df688a77e4"}}