{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:GUG2JABR2GVSTPMZ2NGL7LDZB3","short_pith_number":"pith:GUG2JABR","canonical_record":{"source":{"id":"1604.04854","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-17T09:39:26Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"ca9e1fb40d0c658645d6fad153d45954b6fb99783b5937f924139f33dde4f9cc","abstract_canon_sha256":"4e18b8f203c7fe13874327b94c7050d246f19ce8f89cbd4d8e4af129c8eb4def"},"schema_version":"1.0"},"canonical_sha256":"350da48031d1ab29bd99d34cbfac790ef8c3bf1cfde3cdd2cbd8682d2838de06","source":{"kind":"arxiv","id":"1604.04854","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.04854","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"arxiv_version","alias_value":"1604.04854v3","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.04854","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"pith_short_12","alias_value":"GUG2JABR2GVS","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"GUG2JABR2GVSTPMZ","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"GUG2JABR","created_at":"2026-05-18T12:30:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:GUG2JABR2GVSTPMZ2NGL7LDZB3","target":"record","payload":{"canonical_record":{"source":{"id":"1604.04854","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-17T09:39:26Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"ca9e1fb40d0c658645d6fad153d45954b6fb99783b5937f924139f33dde4f9cc","abstract_canon_sha256":"4e18b8f203c7fe13874327b94c7050d246f19ce8f89cbd4d8e4af129c8eb4def"},"schema_version":"1.0"},"canonical_sha256":"350da48031d1ab29bd99d34cbfac790ef8c3bf1cfde3cdd2cbd8682d2838de06","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:55:58.067660Z","signature_b64":"xiueRd3n+49WrI9oqxAvYOhFcFbt8DURMvG664Nh9iJ8KeCoNQNkKnUSw9rc5P/K/iN8bKpr2is857wi5tOvCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"350da48031d1ab29bd99d34cbfac790ef8c3bf1cfde3cdd2cbd8682d2838de06","last_reissued_at":"2026-05-18T00:55:58.067239Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:55:58.067239Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1604.04854","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:55:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X92WXb0dTuGiOmByc/yrgxgJ+Lo/E6WYFqXfyiJ714ZQT4MrRttboezTvopHqvWYWLH3Fns/UeAC3YmCnYS/BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:14:44.996731Z"},"content_sha256":"737d60ba013b5e09f8849d4e2e7532ad671d60dbe2771183f17146a3eb0a933d","schema_version":"1.0","event_id":"sha256:737d60ba013b5e09f8849d4e2e7532ad671d60dbe2771183f17146a3eb0a933d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:GUG2JABR2GVSTPMZ2NGL7LDZB3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Toward Efficient Task Assignment and Motion Planning for Large Scale Underwater Mission","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"AmirMehdi Yazdani, David MW Powers, Karl Sammut, Somaiyeh Mahmoud Zadeh","submitted_at":"2016-04-17T09:39:26Z","abstract_excerpt":"An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale operating filed. In this paper, a novel combinatorial conflict-free-task assignment strategy consisting an interactive engagement of a local path planner and an adaptive global route planner, is introduced. The method is established upon the heuristic search potency of the Particle Swarm Optimisation (PSO) algorithm to address the discrete nature of routing-ta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.04854","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:55:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xNgUyi7rpqhwR7E1WAIOMntdNNSLBwcd5pWJL2kMyRpS2Lt314tGQc6lmnOVl58jB+FMWKFLhmVggxhdbrb9Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:14:44.997088Z"},"content_sha256":"5c3184297373f864a0a9344fae15f8b18daec220eb324a983782773e21c36016","schema_version":"1.0","event_id":"sha256:5c3184297373f864a0a9344fae15f8b18daec220eb324a983782773e21c36016"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/bundle.json","state_url":"https://pith.science/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/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":"2026-06-27T09:14:44Z","links":{"resolver":"https://pith.science/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3","bundle":"https://pith.science/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/bundle.json","state":"https://pith.science/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GUG2JABR2GVSTPMZ2NGL7LDZB3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:GUG2JABR2GVSTPMZ2NGL7LDZB3","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":"4e18b8f203c7fe13874327b94c7050d246f19ce8f89cbd4d8e4af129c8eb4def","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-17T09:39:26Z","title_canon_sha256":"ca9e1fb40d0c658645d6fad153d45954b6fb99783b5937f924139f33dde4f9cc"},"schema_version":"1.0","source":{"id":"1604.04854","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.04854","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"arxiv_version","alias_value":"1604.04854v3","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.04854","created_at":"2026-05-18T00:55:58Z"},{"alias_kind":"pith_short_12","alias_value":"GUG2JABR2GVS","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_16","alias_value":"GUG2JABR2GVSTPMZ","created_at":"2026-05-18T12:30:19Z"},{"alias_kind":"pith_short_8","alias_value":"GUG2JABR","created_at":"2026-05-18T12:30:19Z"}],"graph_snapshots":[{"event_id":"sha256:5c3184297373f864a0a9344fae15f8b18daec220eb324a983782773e21c36016","target":"graph","created_at":"2026-05-18T00:55:58Z","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":"An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale operating filed. In this paper, a novel combinatorial conflict-free-task assignment strategy consisting an interactive engagement of a local path planner and an adaptive global route planner, is introduced. The method is established upon the heuristic search potency of the Particle Swarm Optimisation (PSO) algorithm to address the discrete nature of routing-ta","authors_text":"AmirMehdi Yazdani, David MW Powers, Karl Sammut, Somaiyeh Mahmoud Zadeh","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-17T09:39:26Z","title":"Toward Efficient Task Assignment and Motion Planning for Large Scale Underwater Mission"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.04854","kind":"arxiv","version":3},"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":"sha256:737d60ba013b5e09f8849d4e2e7532ad671d60dbe2771183f17146a3eb0a933d","target":"record","created_at":"2026-05-18T00:55:58Z","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":"4e18b8f203c7fe13874327b94c7050d246f19ce8f89cbd4d8e4af129c8eb4def","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-17T09:39:26Z","title_canon_sha256":"ca9e1fb40d0c658645d6fad153d45954b6fb99783b5937f924139f33dde4f9cc"},"schema_version":"1.0","source":{"id":"1604.04854","kind":"arxiv","version":3}},"canonical_sha256":"350da48031d1ab29bd99d34cbfac790ef8c3bf1cfde3cdd2cbd8682d2838de06","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"350da48031d1ab29bd99d34cbfac790ef8c3bf1cfde3cdd2cbd8682d2838de06","first_computed_at":"2026-05-18T00:55:58.067239Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:55:58.067239Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xiueRd3n+49WrI9oqxAvYOhFcFbt8DURMvG664Nh9iJ8KeCoNQNkKnUSw9rc5P/K/iN8bKpr2is857wi5tOvCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:55:58.067660Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.04854","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:737d60ba013b5e09f8849d4e2e7532ad671d60dbe2771183f17146a3eb0a933d","sha256:5c3184297373f864a0a9344fae15f8b18daec220eb324a983782773e21c36016"],"state_sha256":"f39f539f30805fb5df6c09d6305b6f613cc4131cad0c48d831ee282a6c16d88e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"38FyK4PvjRSVI0ojxhOSH0dTV3u5wOMq/K/MRcv/EBM8+h6TuiOS1K6brv2zUAtI0VtWk+e6f6kcuDWBBT6EDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T09:14:44.999215Z","bundle_sha256":"f2f28344e2d051885111e4d74acf22921d0718a7b4729aa3a47fcffdc3f3ec36"}}