{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:J3WEMHC4XH6OBHGXERQX7OT64Y","short_pith_number":"pith:J3WEMHC4","canonical_record":{"source":{"id":"1509.04826","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2015-09-16T06:48:04Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"f7813cb6a0cc5f0b557d85776fe6dcb967e0132d06f2e82f6e2bfb293a434e52","abstract_canon_sha256":"ce76c4ca64023fd0d42d14620c2fd6e4028eecea9da96770ea97b8b798cc223b"},"schema_version":"1.0"},"canonical_sha256":"4eec461c5cb9fce09cd724617fba7ee60b0b95501a2592d7575ca3cb0069423c","source":{"kind":"arxiv","id":"1509.04826","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.04826","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"arxiv_version","alias_value":"1509.04826v1","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.04826","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"pith_short_12","alias_value":"J3WEMHC4XH6O","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_16","alias_value":"J3WEMHC4XH6OBHGX","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_8","alias_value":"J3WEMHC4","created_at":"2026-05-18T12:29:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:J3WEMHC4XH6OBHGXERQX7OT64Y","target":"record","payload":{"canonical_record":{"source":{"id":"1509.04826","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2015-09-16T06:48:04Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"f7813cb6a0cc5f0b557d85776fe6dcb967e0132d06f2e82f6e2bfb293a434e52","abstract_canon_sha256":"ce76c4ca64023fd0d42d14620c2fd6e4028eecea9da96770ea97b8b798cc223b"},"schema_version":"1.0"},"canonical_sha256":"4eec461c5cb9fce09cd724617fba7ee60b0b95501a2592d7575ca3cb0069423c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:32:51.603602Z","signature_b64":"w7mRfd0+HbKKbtXdHXbT82pBg5IK1PUdln9Gq6SPLMSm+YdeAULxLtRVdBJtFUZxoBnayUnN615RtGi53Y4rAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4eec461c5cb9fce09cd724617fba7ee60b0b95501a2592d7575ca3cb0069423c","last_reissued_at":"2026-05-18T01:32:51.603015Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:32:51.603015Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1509.04826","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":"2026-05-18T01:32:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sN02zyP6AW6cr80T3eLffjjtqJm64nWd2j3tUe5iU4Qs+1mRZUVpHqRIEZj+aQARJjqUlnIqrRao2D9x1VT0BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T20:32:08.826691Z"},"content_sha256":"5eb46c7e49c5ef8e627442ae90a53218cbdd1f3dde73768945dc4abef83734d5","schema_version":"1.0","event_id":"sha256:5eb46c7e49c5ef8e627442ae90a53218cbdd1f3dde73768945dc4abef83734d5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:J3WEMHC4XH6OBHGXERQX7OT64Y","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inter-Robot Interactions in Multi-Robot Systems Using Braids","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"cs.MA","authors_text":"Magnus Egerstedt, Yancy Diaz-Mercado","submitted_at":"2015-09-16T06:48:04Z","abstract_excerpt":"This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow for the enforcement of desired interaction patterns in a provably safe (i.e., collision-free) manner, e.g., for achieving rich movement patterns in a shared space, or to exchange sensor information. We propose to specify interaction patterns through elements of the so-called braid group. This allows us to not focus on a particular pattern per se, but rather on"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.04826","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":""},"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":"2026-05-18T01:32:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7x+Vqx3LAdiCNJ0l8cOAzQZF1J0c63YsCx+45sbT2vQ19k9NlvKuCPBanKaBjsRtoVxpADiQ1y2XnWNDDxb/BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T20:32:08.827402Z"},"content_sha256":"80e4f241630690a430e7fc8e0aa36fa3480dfa1a0e26f510cab0255464e6c8d6","schema_version":"1.0","event_id":"sha256:80e4f241630690a430e7fc8e0aa36fa3480dfa1a0e26f510cab0255464e6c8d6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/bundle.json","state_url":"https://pith.science/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/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":"2026-06-05T20:32:08Z","links":{"resolver":"https://pith.science/pith/J3WEMHC4XH6OBHGXERQX7OT64Y","bundle":"https://pith.science/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/bundle.json","state":"https://pith.science/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J3WEMHC4XH6OBHGXERQX7OT64Y/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:J3WEMHC4XH6OBHGXERQX7OT64Y","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":"ce76c4ca64023fd0d42d14620c2fd6e4028eecea9da96770ea97b8b798cc223b","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2015-09-16T06:48:04Z","title_canon_sha256":"f7813cb6a0cc5f0b557d85776fe6dcb967e0132d06f2e82f6e2bfb293a434e52"},"schema_version":"1.0","source":{"id":"1509.04826","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1509.04826","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"arxiv_version","alias_value":"1509.04826v1","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1509.04826","created_at":"2026-05-18T01:32:51Z"},{"alias_kind":"pith_short_12","alias_value":"J3WEMHC4XH6O","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_16","alias_value":"J3WEMHC4XH6OBHGX","created_at":"2026-05-18T12:29:27Z"},{"alias_kind":"pith_short_8","alias_value":"J3WEMHC4","created_at":"2026-05-18T12:29:27Z"}],"graph_snapshots":[{"event_id":"sha256:80e4f241630690a430e7fc8e0aa36fa3480dfa1a0e26f510cab0255464e6c8d6","target":"graph","created_at":"2026-05-18T01:32:51Z","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":"This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow for the enforcement of desired interaction patterns in a provably safe (i.e., collision-free) manner, e.g., for achieving rich movement patterns in a shared space, or to exchange sensor information. We propose to specify interaction patterns through elements of the so-called braid group. This allows us to not focus on a particular pattern per se, but rather on","authors_text":"Magnus Egerstedt, Yancy Diaz-Mercado","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2015-09-16T06:48:04Z","title":"Inter-Robot Interactions in Multi-Robot Systems Using Braids"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1509.04826","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":"sha256:5eb46c7e49c5ef8e627442ae90a53218cbdd1f3dde73768945dc4abef83734d5","target":"record","created_at":"2026-05-18T01:32:51Z","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":"ce76c4ca64023fd0d42d14620c2fd6e4028eecea9da96770ea97b8b798cc223b","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2015-09-16T06:48:04Z","title_canon_sha256":"f7813cb6a0cc5f0b557d85776fe6dcb967e0132d06f2e82f6e2bfb293a434e52"},"schema_version":"1.0","source":{"id":"1509.04826","kind":"arxiv","version":1}},"canonical_sha256":"4eec461c5cb9fce09cd724617fba7ee60b0b95501a2592d7575ca3cb0069423c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4eec461c5cb9fce09cd724617fba7ee60b0b95501a2592d7575ca3cb0069423c","first_computed_at":"2026-05-18T01:32:51.603015Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:32:51.603015Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"w7mRfd0+HbKKbtXdHXbT82pBg5IK1PUdln9Gq6SPLMSm+YdeAULxLtRVdBJtFUZxoBnayUnN615RtGi53Y4rAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:32:51.603602Z","signed_message":"canonical_sha256_bytes"},"source_id":"1509.04826","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5eb46c7e49c5ef8e627442ae90a53218cbdd1f3dde73768945dc4abef83734d5","sha256:80e4f241630690a430e7fc8e0aa36fa3480dfa1a0e26f510cab0255464e6c8d6"],"state_sha256":"7b94a571734ddcde992399e04a433b15be0609188f6dee3e190f39970fe31d23"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zR0305hjl/piLqhuCQyMU3ZPbD/M6RKxgTbMTeWCBIITAnZYqkQ6IpIUJBcut/qtFeqUr3Ryj3suDOMFk8JaBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T20:32:08.831265Z","bundle_sha256":"25fcef228e1a4db58913a3c275ab01a7741b798cda3b0adbf456b19791998eec"}}