{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:BFEXCWBKL544ELMHS5XKFS5WJI","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":"00d45e890c1148cacc318c73efef2b2af18b90a1dcf321ca2a8d64b8d6af64ee","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-25T20:50:47Z","title_canon_sha256":"615fbca2ad392b439b6a433987a5ab4cba47b9c8189cab273c0fa037ad228ef9"},"schema_version":"1.0","source":{"id":"1607.07472","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.07472","created_at":"2026-05-18T01:03:37Z"},{"alias_kind":"arxiv_version","alias_value":"1607.07472v1","created_at":"2026-05-18T01:03:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.07472","created_at":"2026-05-18T01:03:37Z"},{"alias_kind":"pith_short_12","alias_value":"BFEXCWBKL544","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"BFEXCWBKL544ELMH","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"BFEXCWBK","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:a5d05981901a17327069155114897bba30f95316c5218dd4bd3355e05c148244","target":"graph","created_at":"2026-05-18T01:03:37Z","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 present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic RRT algorithms. Our bridge has certain geometric characteristics, that en- able us to calculate a collision-free trajectory for each agent using simple interpolation at runtime. Moreover, we combine i","authors_text":"Dinesh Manocha, Jia Pan, Liang He","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-25T20:50:47Z","title":"Efficient Multi-Agent Global Navigation Using Interpolating Bridges"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.07472","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:e6758723f857321ffde4ae0596035d251b2e4c1f87bb6239213f8d1756671ac1","target":"record","created_at":"2026-05-18T01:03:37Z","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":"00d45e890c1148cacc318c73efef2b2af18b90a1dcf321ca2a8d64b8d6af64ee","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-07-25T20:50:47Z","title_canon_sha256":"615fbca2ad392b439b6a433987a5ab4cba47b9c8189cab273c0fa037ad228ef9"},"schema_version":"1.0","source":{"id":"1607.07472","kind":"arxiv","version":1}},"canonical_sha256":"094971582a5f79c22d87976ea2cbb64a0ef7f16acf49a57db7150f4c1a36071c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"094971582a5f79c22d87976ea2cbb64a0ef7f16acf49a57db7150f4c1a36071c","first_computed_at":"2026-05-18T01:03:37.665083Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:03:37.665083Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XRvMpnh6kBmiR3hqibZluOASGsg2+uPdzyuYLQ/dTswlNYwALzFY9unaUDPwSEPgXIX4w/JLxqBjrdM+K8B0Bg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:03:37.665651Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.07472","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e6758723f857321ffde4ae0596035d251b2e4c1f87bb6239213f8d1756671ac1","sha256:a5d05981901a17327069155114897bba30f95316c5218dd4bd3355e05c148244"],"state_sha256":"8c657b1b3e025c5e4a42596a9a7d1d215e905e70e3097cdc7e5ed4a1fab7fd38"}