{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IDZOKWPC27UBYRYNVP567O5WEZ","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":"6669ed036a4a31ad89f82d2fba7decad76d754239c29f93f7fa96d076beba292","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-22T00:12:12Z","title_canon_sha256":"3b85bab9781f81ab305a3ad33d7a5cd063cbb0ed5f2cb28c1649ac17c81f4692"},"schema_version":"1.0","source":{"id":"2401.11634","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.11634","created_at":"2026-07-05T07:36:07Z"},{"alias_kind":"arxiv_version","alias_value":"2401.11634v1","created_at":"2026-07-05T07:36:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.11634","created_at":"2026-07-05T07:36:07Z"},{"alias_kind":"pith_short_12","alias_value":"IDZOKWPC27UB","created_at":"2026-07-05T07:36:07Z"},{"alias_kind":"pith_short_16","alias_value":"IDZOKWPC27UBYRYN","created_at":"2026-07-05T07:36:07Z"},{"alias_kind":"pith_short_8","alias_value":"IDZOKWPC","created_at":"2026-07-05T07:36:07Z"}],"graph_snapshots":[{"event_id":"sha256:bf5fc447aadb22e11143cd1377fdf4666221b1a80fb4f6eef6236910decd02f0","target":"graph","created_at":"2026-07-05T07:36:07Z","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/2401.11634/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control algorithms and multi-robot path planners, there is in turn an increased demand for fast, efficient, and robust controllers. We propose a scalable joint path planning and control algorithm for multi-robot systems with constrained behaviours based on factor graph optimization. We demonstrate our algorithm on a series of hardware and simulated experiments. Our ","authors_text":"Cheng-Hao Kao, Hussein Ali Jaafar, Sajad Saeedi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-22T00:12:12Z","title":"MR.CAP: Multi-Robot Joint Control and Planning for Object Transport"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.11634","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:a1f92f5ee7838a3181c326e99cd41922132d14911a5ec0fd1a7feb0acb5a9928","target":"record","created_at":"2026-07-05T07:36:07Z","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":"6669ed036a4a31ad89f82d2fba7decad76d754239c29f93f7fa96d076beba292","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-22T00:12:12Z","title_canon_sha256":"3b85bab9781f81ab305a3ad33d7a5cd063cbb0ed5f2cb28c1649ac17c81f4692"},"schema_version":"1.0","source":{"id":"2401.11634","kind":"arxiv","version":1}},"canonical_sha256":"40f2e559e2d7e81c470dabfbefbbb6265000eac688dd13a655d269d3ce0dc2d4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"40f2e559e2d7e81c470dabfbefbbb6265000eac688dd13a655d269d3ce0dc2d4","first_computed_at":"2026-07-05T07:36:07.636089Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:36:07.636089Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HDxf365m55jFI/FvyIJBi5G2IGSF9BHH88PlS/VQSDf3TqxGFsckYs3CI7MjSCAFQWF/DY3RqzUWkPK70qT2CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:36:07.636514Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.11634","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a1f92f5ee7838a3181c326e99cd41922132d14911a5ec0fd1a7feb0acb5a9928","sha256:bf5fc447aadb22e11143cd1377fdf4666221b1a80fb4f6eef6236910decd02f0"],"state_sha256":"eee8abb31bc3118fbb0f32b7cfac622c7863e491a08f2e060d688ba35731cfba"}