{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:C4N4YVAMAR2I2UPMV5OPPXCTHV","short_pith_number":"pith:C4N4YVAM","canonical_record":{"source":{"id":"2505.08025","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-12T19:48:32Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"687c8127fae1567c92741702f89842c4109ccbc701d93a828ed39166cc856d9e","abstract_canon_sha256":"bd1e9e490cade5e655bd6b6bb9be11b9be7d94aba0ca15cf9ac9e061addc38c1"},"schema_version":"1.0"},"canonical_sha256":"171bcc540c04748d51ecaf5cf7dc533d4cd0429336d4543c87ac14997100f30c","source":{"kind":"arxiv","id":"2505.08025","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.08025","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"arxiv_version","alias_value":"2505.08025v1","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.08025","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_12","alias_value":"C4N4YVAMAR2I","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_16","alias_value":"C4N4YVAMAR2I2UPM","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_8","alias_value":"C4N4YVAM","created_at":"2026-07-05T11:02:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:C4N4YVAMAR2I2UPMV5OPPXCTHV","target":"record","payload":{"canonical_record":{"source":{"id":"2505.08025","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-12T19:48:32Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"687c8127fae1567c92741702f89842c4109ccbc701d93a828ed39166cc856d9e","abstract_canon_sha256":"bd1e9e490cade5e655bd6b6bb9be11b9be7d94aba0ca15cf9ac9e061addc38c1"},"schema_version":"1.0"},"canonical_sha256":"171bcc540c04748d51ecaf5cf7dc533d4cd0429336d4543c87ac14997100f30c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:02:01.627694Z","signature_b64":"hVy5PoXb7wLckrYHblIEc+MIz3mkcZvJJEmdlTecxQit36P+AMDc/LLhmDVOknNr8sDA6+TwvNbx4E4OXvZ4Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"171bcc540c04748d51ecaf5cf7dc533d4cd0429336d4543c87ac14997100f30c","last_reissued_at":"2026-07-05T11:02:01.627297Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:02:01.627297Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.08025","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":"2026-07-05T11:02:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nwGoJ6xX7XAvZci9h7AyZKm4Gw2n+SwTKlGyD/AojtK9c/qv+8Vaq8dAXEYvHAtQ+F2eHCHPEgDksTTH6wD+AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:06:01.400376Z"},"content_sha256":"a5a6e5855ab7da7e0ccc32158a45546dfd039159e6bdafc6e1eb47eb57b7b819","schema_version":"1.0","event_id":"sha256:a5a6e5855ab7da7e0ccc32158a45546dfd039159e6bdafc6e1eb47eb57b7b819"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:C4N4YVAMAR2I2UPMV5OPPXCTHV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Brendan Long, Hannah Lee, James Motes, Marco Morales, Nancy M. Amato, Zachary Serlin","submitted_at":"2025-05-12T19:48:32Z","abstract_excerpt":"We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to concurrently plan safe and efficient paths for multiple tasks while avoiding collisions. It employs a rapid communication strategy that uses information packets to exchange motion constraint information, enhancing cooperative pathfinding and situational awareness, even in scenarios without direct communication. We prove that PRISM resolves and avoids all deadlock s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.08025","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/2505.08025/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":"2026-07-05T11:02:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AaQ+3fCX6fLCZhbA6y0pBty0MEizI4I81HuGbtHhi0T8/MyN0ufwHNBToQE5wxwmVxTrzPgo7yjAFzxV/gHTCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T05:06:01.400751Z"},"content_sha256":"780092d91aed37e8a98015bd14dd234e3aeaa3f89fd8ca7300e652fe35157621","schema_version":"1.0","event_id":"sha256:780092d91aed37e8a98015bd14dd234e3aeaa3f89fd8ca7300e652fe35157621"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/bundle.json","state_url":"https://pith.science/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/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":"2026-07-09T05:06:01Z","links":{"resolver":"https://pith.science/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV","bundle":"https://pith.science/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/bundle.json","state":"https://pith.science/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/C4N4YVAMAR2I2UPMV5OPPXCTHV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:C4N4YVAMAR2I2UPMV5OPPXCTHV","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":"bd1e9e490cade5e655bd6b6bb9be11b9be7d94aba0ca15cf9ac9e061addc38c1","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-12T19:48:32Z","title_canon_sha256":"687c8127fae1567c92741702f89842c4109ccbc701d93a828ed39166cc856d9e"},"schema_version":"1.0","source":{"id":"2505.08025","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.08025","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"arxiv_version","alias_value":"2505.08025v1","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.08025","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_12","alias_value":"C4N4YVAMAR2I","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_16","alias_value":"C4N4YVAMAR2I2UPM","created_at":"2026-07-05T11:02:01Z"},{"alias_kind":"pith_short_8","alias_value":"C4N4YVAM","created_at":"2026-07-05T11:02:01Z"}],"graph_snapshots":[{"event_id":"sha256:780092d91aed37e8a98015bd14dd234e3aeaa3f89fd8ca7300e652fe35157621","target":"graph","created_at":"2026-07-05T11:02:01Z","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/2505.08025/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to concurrently plan safe and efficient paths for multiple tasks while avoiding collisions. It employs a rapid communication strategy that uses information packets to exchange motion constraint information, enhancing cooperative pathfinding and situational awareness, even in scenarios without direct communication. We prove that PRISM resolves and avoids all deadlock s","authors_text":"Brendan Long, Hannah Lee, James Motes, Marco Morales, Nancy M. Amato, Zachary Serlin","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-12T19:48:32Z","title":"PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.08025","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:a5a6e5855ab7da7e0ccc32158a45546dfd039159e6bdafc6e1eb47eb57b7b819","target":"record","created_at":"2026-07-05T11:02:01Z","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":"bd1e9e490cade5e655bd6b6bb9be11b9be7d94aba0ca15cf9ac9e061addc38c1","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-12T19:48:32Z","title_canon_sha256":"687c8127fae1567c92741702f89842c4109ccbc701d93a828ed39166cc856d9e"},"schema_version":"1.0","source":{"id":"2505.08025","kind":"arxiv","version":1}},"canonical_sha256":"171bcc540c04748d51ecaf5cf7dc533d4cd0429336d4543c87ac14997100f30c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"171bcc540c04748d51ecaf5cf7dc533d4cd0429336d4543c87ac14997100f30c","first_computed_at":"2026-07-05T11:02:01.627297Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:02:01.627297Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hVy5PoXb7wLckrYHblIEc+MIz3mkcZvJJEmdlTecxQit36P+AMDc/LLhmDVOknNr8sDA6+TwvNbx4E4OXvZ4Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:02:01.627694Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.08025","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a5a6e5855ab7da7e0ccc32158a45546dfd039159e6bdafc6e1eb47eb57b7b819","sha256:780092d91aed37e8a98015bd14dd234e3aeaa3f89fd8ca7300e652fe35157621"],"state_sha256":"8ec6bc08720c528e97e807d71e4627f3e302b49784f1a0b92857649511ac679a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x6uNXiISsSu1NhPUFxXIfEhaAe+zb6Jw5lSaldv/KTsvR7UQA0F4Wds8T3mA46wBQ4+mVkE02NJYcikieZMXBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T05:06:01.402829Z","bundle_sha256":"fdce2d78a6e77d5df71c6713b44c7accf3b4f568ddb53993b4a9c8f91fbbc6fb"}}