{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:F7OTBOSJOCYSRZWMM5UDMJYJOX","short_pith_number":"pith:F7OTBOSJ","canonical_record":{"source":{"id":"2010.05254","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-11T14:39:50Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"bd8bde353dab41d1818c7a52990d3bbca9ed9a8d014c00cf0f7a1137e1b46706","abstract_canon_sha256":"0b88c4f09ef26a2c5818a0e683b64da55e41ff6f6668ee579add9c2b154e9745"},"schema_version":"1.0"},"canonical_sha256":"2fdd30ba4970b128e6cc676836270975c1c56875b691aa99c730187b91dfc132","source":{"kind":"arxiv","id":"2010.05254","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.05254","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"arxiv_version","alias_value":"2010.05254v1","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.05254","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_12","alias_value":"F7OTBOSJOCYS","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_16","alias_value":"F7OTBOSJOCYSRZWM","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_8","alias_value":"F7OTBOSJ","created_at":"2026-07-05T01:42:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:F7OTBOSJOCYSRZWMM5UDMJYJOX","target":"record","payload":{"canonical_record":{"source":{"id":"2010.05254","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-11T14:39:50Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"bd8bde353dab41d1818c7a52990d3bbca9ed9a8d014c00cf0f7a1137e1b46706","abstract_canon_sha256":"0b88c4f09ef26a2c5818a0e683b64da55e41ff6f6668ee579add9c2b154e9745"},"schema_version":"1.0"},"canonical_sha256":"2fdd30ba4970b128e6cc676836270975c1c56875b691aa99c730187b91dfc132","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:42:04.488501Z","signature_b64":"SXbG2Z6hqCZhz/Nuy2DMrqWjOar4QEM3or7yGIhRv/xR01FHypvdXShJF2eLQc1Ar93MAvbAH1etpS/HOobuDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2fdd30ba4970b128e6cc676836270975c1c56875b691aa99c730187b91dfc132","last_reissued_at":"2026-07-05T01:42:04.488062Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:42:04.488062Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2010.05254","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":"2026-07-05T01:42:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nxt75tyTRr8M1RIifdtLdRPmdkoHPsPs6xQsRu/Py/AKtTqTSVtb0iw/V5SYRg+EQsdcwAiJnhLqsEeCSUbRCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T00:36:59.397885Z"},"content_sha256":"842658b8fd576e695c7677c8eaf02879fe7ab14474607a78bc2c2369a706a3b7","schema_version":"1.0","event_id":"sha256:842658b8fd576e695c7677c8eaf02879fe7ab14474607a78bc2c2369a706a3b7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:F7OTBOSJOCYSRZWMM5UDMJYJOX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Feedback Scheme to Reorder a Multi-Agent Execution Schedule by Persistently Optimizing a Switchable Action Dependency Graph","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Alexander Berndt, Luigi Palmieri, Niels Van Duijkeren, Tamas Keviczky","submitted_at":"2020-10-11T14:39:50Z","abstract_excerpt":"In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution deadlock-free, one approach is to construct an Action Dependency Graph (ADG) which encodes the ordering of AGVs as they proceed along their routes. Using this method, delayed AGVs occasionally require others to wait for them at intersections, thereby affecting the plan execution efficiency. If the workspace is shared by dynamic obstacles such as humans or third party"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.05254","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/2010.05254/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":"2026-07-05T01:42:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"57GBr1XxasxWJjbKPmMnOgQcdipXyDtrK0MRWl6XNy7FkMWOvBXT8F6s6x24xAfSgUx5G0yc0YpO9JG7RvvECQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T00:36:59.398393Z"},"content_sha256":"0925364c769d1af8cd73877d4e81c0a6325b269f7e9169a38eee1ba52c01f530","schema_version":"1.0","event_id":"sha256:0925364c769d1af8cd73877d4e81c0a6325b269f7e9169a38eee1ba52c01f530"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/bundle.json","state_url":"https://pith.science/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/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":"2026-08-09T00:36:59Z","links":{"resolver":"https://pith.science/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX","bundle":"https://pith.science/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/bundle.json","state":"https://pith.science/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/F7OTBOSJOCYSRZWMM5UDMJYJOX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:F7OTBOSJOCYSRZWMM5UDMJYJOX","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":"0b88c4f09ef26a2c5818a0e683b64da55e41ff6f6668ee579add9c2b154e9745","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-11T14:39:50Z","title_canon_sha256":"bd8bde353dab41d1818c7a52990d3bbca9ed9a8d014c00cf0f7a1137e1b46706"},"schema_version":"1.0","source":{"id":"2010.05254","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2010.05254","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"arxiv_version","alias_value":"2010.05254v1","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2010.05254","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_12","alias_value":"F7OTBOSJOCYS","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_16","alias_value":"F7OTBOSJOCYSRZWM","created_at":"2026-07-05T01:42:04Z"},{"alias_kind":"pith_short_8","alias_value":"F7OTBOSJ","created_at":"2026-07-05T01:42:04Z"}],"graph_snapshots":[{"event_id":"sha256:0925364c769d1af8cd73877d4e81c0a6325b269f7e9169a38eee1ba52c01f530","target":"graph","created_at":"2026-07-05T01:42:04Z","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/2010.05254/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution deadlock-free, one approach is to construct an Action Dependency Graph (ADG) which encodes the ordering of AGVs as they proceed along their routes. Using this method, delayed AGVs occasionally require others to wait for them at intersections, thereby affecting the plan execution efficiency. If the workspace is shared by dynamic obstacles such as humans or third party","authors_text":"Alexander Berndt, Luigi Palmieri, Niels Van Duijkeren, Tamas Keviczky","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-11T14:39:50Z","title":"A Feedback Scheme to Reorder a Multi-Agent Execution Schedule by Persistently Optimizing a Switchable Action Dependency Graph"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2010.05254","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":"sha256:842658b8fd576e695c7677c8eaf02879fe7ab14474607a78bc2c2369a706a3b7","target":"record","created_at":"2026-07-05T01:42:04Z","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":"0b88c4f09ef26a2c5818a0e683b64da55e41ff6f6668ee579add9c2b154e9745","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-10-11T14:39:50Z","title_canon_sha256":"bd8bde353dab41d1818c7a52990d3bbca9ed9a8d014c00cf0f7a1137e1b46706"},"schema_version":"1.0","source":{"id":"2010.05254","kind":"arxiv","version":1}},"canonical_sha256":"2fdd30ba4970b128e6cc676836270975c1c56875b691aa99c730187b91dfc132","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2fdd30ba4970b128e6cc676836270975c1c56875b691aa99c730187b91dfc132","first_computed_at":"2026-07-05T01:42:04.488062Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:42:04.488062Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SXbG2Z6hqCZhz/Nuy2DMrqWjOar4QEM3or7yGIhRv/xR01FHypvdXShJF2eLQc1Ar93MAvbAH1etpS/HOobuDw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:42:04.488501Z","signed_message":"canonical_sha256_bytes"},"source_id":"2010.05254","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:842658b8fd576e695c7677c8eaf02879fe7ab14474607a78bc2c2369a706a3b7","sha256:0925364c769d1af8cd73877d4e81c0a6325b269f7e9169a38eee1ba52c01f530"],"state_sha256":"8844dafdd985ed66637b463f9ff587b63202f9827c570212dfa5f6b22aa24a2b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Py8qLKCvhTXIzBuS72oBG0bN7v5EdphVvl9TCDtK5/Eu4hIjqp3bVW7QRWpMBLG+8qFCgHOtVjWYg3kRCwdWBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T00:36:59.402564Z","bundle_sha256":"9406a927e625cc9d399e4a87413cd618e62ccf5d0599be41ea539604cad63d32"}}