{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:GGZAMKHDHNIL52OFCGWSOCDZI7","short_pith_number":"pith:GGZAMKHD","canonical_record":{"source":{"id":"2506.16748","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T04:50:35Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"54f7a8b282dcba4a87f6a85fbc6b63881452aec9d2510b57932bbb5d3e8285e6","abstract_canon_sha256":"57604094cd8170ece1a37215b3b6b818a7333fe770c8cb5c9b1bf972d31ad91b"},"schema_version":"1.0"},"canonical_sha256":"31b20628e33b50bee9c511ad27087947d7b1ca6783b729a6202c705dd0de8658","source":{"kind":"arxiv","id":"2506.16748","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.16748","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"arxiv_version","alias_value":"2506.16748v1","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.16748","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_12","alias_value":"GGZAMKHDHNIL","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_16","alias_value":"GGZAMKHDHNIL52OF","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_8","alias_value":"GGZAMKHD","created_at":"2026-07-05T11:24:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:GGZAMKHDHNIL52OFCGWSOCDZI7","target":"record","payload":{"canonical_record":{"source":{"id":"2506.16748","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T04:50:35Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"54f7a8b282dcba4a87f6a85fbc6b63881452aec9d2510b57932bbb5d3e8285e6","abstract_canon_sha256":"57604094cd8170ece1a37215b3b6b818a7333fe770c8cb5c9b1bf972d31ad91b"},"schema_version":"1.0"},"canonical_sha256":"31b20628e33b50bee9c511ad27087947d7b1ca6783b729a6202c705dd0de8658","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:24:42.120540Z","signature_b64":"WFTgM6YmGUv0C84WmBHoc5+f0KQEbUOSxocgKSkk8d4xZnPQgGyBq6/vLfnIRg5jVjOkzO/W2mia/Rnl3RYLDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"31b20628e33b50bee9c511ad27087947d7b1ca6783b729a6202c705dd0de8658","last_reissued_at":"2026-07-05T11:24:42.120042Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:24:42.120042Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.16748","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":"2026-07-05T11:24:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"E7nhty0KFr5AFOIbUbZWEMEWzChr2J+CeYGzjqcIO+9VdnHFNcJg2UW4fX2dCsGxAkAvOtiC0VYur/ETgI+kAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:29:15.225609Z"},"content_sha256":"0d7cabab94d76e98564252b5ce76585ddedcb64a3da670d559e09a01d859ee13","schema_version":"1.0","event_id":"sha256:0d7cabab94d76e98564252b5ce76585ddedcb64a3da670d559e09a01d859ee13"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:GGZAMKHDHNIL52OFCGWSOCDZI7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Scalable Post-Processing Pipeline for Large-Scale Free-Space Multi-Agent Path Planning with PiBT","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Arjo Chakravarty, M. A. Viraj J. Muthugala, Michael X. Grey, Mohan Rajesh Elara","submitted_at":"2025-06-20T04:50:35Z","abstract_excerpt":"Free-space multi-agent path planning remains challenging at large scales. Most existing methods either offer optimality guarantees but do not scale beyond a few dozen agents, or rely on grid-world assumptions that do not generalize well to continuous space. In this work, we propose a hybrid, rule-based planning framework that combines Priority Inheritance with Backtracking (PiBT) with a novel safety-aware path smoothing method. Our approach extends PiBT to 8-connected grids and selectively applies string-pulling based smoothing while preserving collision safety through local interaction awaren"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.16748","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/2506.16748/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":"2026-07-05T11:24:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a/gVxJXNXCcRtmsLbqXAeZaatrLetJCtseUvg/I2GmCas8x5H7qDVNcSrepTNNRa3Q95lJXuamb8BniBv9PBCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:29:15.226128Z"},"content_sha256":"320a5198d0036bd1107dadbb27105d0b59a0de4ff65eb744af3092e6b789a56e","schema_version":"1.0","event_id":"sha256:320a5198d0036bd1107dadbb27105d0b59a0de4ff65eb744af3092e6b789a56e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/bundle.json","state_url":"https://pith.science/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/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":"2026-08-08T13:29:15Z","links":{"resolver":"https://pith.science/pith/GGZAMKHDHNIL52OFCGWSOCDZI7","bundle":"https://pith.science/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/bundle.json","state":"https://pith.science/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GGZAMKHDHNIL52OFCGWSOCDZI7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:GGZAMKHDHNIL52OFCGWSOCDZI7","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":"57604094cd8170ece1a37215b3b6b818a7333fe770c8cb5c9b1bf972d31ad91b","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T04:50:35Z","title_canon_sha256":"54f7a8b282dcba4a87f6a85fbc6b63881452aec9d2510b57932bbb5d3e8285e6"},"schema_version":"1.0","source":{"id":"2506.16748","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.16748","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"arxiv_version","alias_value":"2506.16748v1","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.16748","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_12","alias_value":"GGZAMKHDHNIL","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_16","alias_value":"GGZAMKHDHNIL52OF","created_at":"2026-07-05T11:24:42Z"},{"alias_kind":"pith_short_8","alias_value":"GGZAMKHD","created_at":"2026-07-05T11:24:42Z"}],"graph_snapshots":[{"event_id":"sha256:320a5198d0036bd1107dadbb27105d0b59a0de4ff65eb744af3092e6b789a56e","target":"graph","created_at":"2026-07-05T11:24:42Z","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/2506.16748/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Free-space multi-agent path planning remains challenging at large scales. Most existing methods either offer optimality guarantees but do not scale beyond a few dozen agents, or rely on grid-world assumptions that do not generalize well to continuous space. In this work, we propose a hybrid, rule-based planning framework that combines Priority Inheritance with Backtracking (PiBT) with a novel safety-aware path smoothing method. Our approach extends PiBT to 8-connected grids and selectively applies string-pulling based smoothing while preserving collision safety through local interaction awaren","authors_text":"Arjo Chakravarty, M. A. Viraj J. Muthugala, Michael X. Grey, Mohan Rajesh Elara","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T04:50:35Z","title":"A Scalable Post-Processing Pipeline for Large-Scale Free-Space Multi-Agent Path Planning with PiBT"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.16748","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":"sha256:0d7cabab94d76e98564252b5ce76585ddedcb64a3da670d559e09a01d859ee13","target":"record","created_at":"2026-07-05T11:24:42Z","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":"57604094cd8170ece1a37215b3b6b818a7333fe770c8cb5c9b1bf972d31ad91b","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T04:50:35Z","title_canon_sha256":"54f7a8b282dcba4a87f6a85fbc6b63881452aec9d2510b57932bbb5d3e8285e6"},"schema_version":"1.0","source":{"id":"2506.16748","kind":"arxiv","version":1}},"canonical_sha256":"31b20628e33b50bee9c511ad27087947d7b1ca6783b729a6202c705dd0de8658","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"31b20628e33b50bee9c511ad27087947d7b1ca6783b729a6202c705dd0de8658","first_computed_at":"2026-07-05T11:24:42.120042Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:24:42.120042Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WFTgM6YmGUv0C84WmBHoc5+f0KQEbUOSxocgKSkk8d4xZnPQgGyBq6/vLfnIRg5jVjOkzO/W2mia/Rnl3RYLDg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:24:42.120540Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.16748","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0d7cabab94d76e98564252b5ce76585ddedcb64a3da670d559e09a01d859ee13","sha256:320a5198d0036bd1107dadbb27105d0b59a0de4ff65eb744af3092e6b789a56e"],"state_sha256":"7a66d0e7c98e223fd579f00028abca7f501e2f75f4104e3b52fcc0c537118453"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+JPjibh9tlxzNXIl1Tuw9jH8t+ne6eutuV9rZaMGjY1xU32NTnrAl2bNPuy2Ho4FsZg7frElEgwwygoBHXJzBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T13:29:15.231198Z","bundle_sha256":"dfdff546cd900a0d6e659f571832ce506a95082dcf33b5b471968c4668e7d3ae"}}