{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:KPOK7KBM7SIR7C44ROJQMOKILP","short_pith_number":"pith:KPOK7KBM","canonical_record":{"source":{"id":"2109.15122","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-30T13:33:03Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"bf800b5a6946e13b279c2e359fdbd30ad4325543393fd6498266f205bd435f60","abstract_canon_sha256":"2331bd126a37d4ef9964667285d1ca346a7baa39da84027859d1748dd9a1c339"},"schema_version":"1.0"},"canonical_sha256":"53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b","source":{"kind":"arxiv","id":"2109.15122","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.15122","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"arxiv_version","alias_value":"2109.15122v1","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.15122","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_12","alias_value":"KPOK7KBM7SIR","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_16","alias_value":"KPOK7KBM7SIR7C44","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_8","alias_value":"KPOK7KBM","created_at":"2026-07-05T03:18:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:KPOK7KBM7SIR7C44ROJQMOKILP","target":"record","payload":{"canonical_record":{"source":{"id":"2109.15122","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-30T13:33:03Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"bf800b5a6946e13b279c2e359fdbd30ad4325543393fd6498266f205bd435f60","abstract_canon_sha256":"2331bd126a37d4ef9964667285d1ca346a7baa39da84027859d1748dd9a1c339"},"schema_version":"1.0"},"canonical_sha256":"53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:18:55.635256Z","signature_b64":"LjwY+xr/dkn4SswbtqW26leL2xqFQZv/VPW+Ei/zdyt1iH7ZR3xAENI3SDmECscq2QVw6od/ykQoQ/+xBnw1Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b","last_reissued_at":"2026-07-05T03:18:55.634710Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:18:55.634710Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.15122","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":"2026-07-05T03:18:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WV1FL9hniR/lM+yDHRla2v0WHghIh/VFGDC3i2t/zs0vJmDKHtMoRbU8cU80eS5ucFFwZJ/g4zAh3HUpSweZAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T01:59:58.052166Z"},"content_sha256":"83ded6b5d0eda5df89501be8020f954fd484ce68014ca00bb4eaffea16c5ed4a","schema_version":"1.0","event_id":"sha256:83ded6b5d0eda5df89501be8020f954fd484ce68014ca00bb4eaffea16c5ed4a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:KPOK7KBM7SIR7C44ROJQMOKILP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Linear Differential Games for Cooperative Behavior Planning of Autonomous Vehicles Using Mixed-Integer Programming","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Klemens Esterle, Tobias Kessler","submitted_at":"2021-09-30T13:33:03Z","abstract_excerpt":"Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions with human-driven vehicles into its planning. The problem is often formulated as a multi-agent game and solved using iterative algorithms operating on a discretized action or state space. Even if converging to a Nash equilibrium, the result will often be only sub-optimal. In this paper, we define a linear differential game for a set of interacting agents an"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.15122","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/2109.15122/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":"2026-07-05T03:18:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ttvge8RGBgflEWK1PhQ8iBkFV+ftIEFTq9IEZ3lABly5Ns1TI4fUDvg+lEmIrkw4GZZWbCY6jnb3SKVhxXgLAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T01:59:58.052678Z"},"content_sha256":"f86a7697160f289ad8a40866b862d9be649cbcc37b57a5e28838365df4fde8b3","schema_version":"1.0","event_id":"sha256:f86a7697160f289ad8a40866b862d9be649cbcc37b57a5e28838365df4fde8b3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KPOK7KBM7SIR7C44ROJQMOKILP/bundle.json","state_url":"https://pith.science/pith/KPOK7KBM7SIR7C44ROJQMOKILP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KPOK7KBM7SIR7C44ROJQMOKILP/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":"2026-08-21T01:59:58Z","links":{"resolver":"https://pith.science/pith/KPOK7KBM7SIR7C44ROJQMOKILP","bundle":"https://pith.science/pith/KPOK7KBM7SIR7C44ROJQMOKILP/bundle.json","state":"https://pith.science/pith/KPOK7KBM7SIR7C44ROJQMOKILP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KPOK7KBM7SIR7C44ROJQMOKILP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:KPOK7KBM7SIR7C44ROJQMOKILP","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":"2331bd126a37d4ef9964667285d1ca346a7baa39da84027859d1748dd9a1c339","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-30T13:33:03Z","title_canon_sha256":"bf800b5a6946e13b279c2e359fdbd30ad4325543393fd6498266f205bd435f60"},"schema_version":"1.0","source":{"id":"2109.15122","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.15122","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"arxiv_version","alias_value":"2109.15122v1","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.15122","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_12","alias_value":"KPOK7KBM7SIR","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_16","alias_value":"KPOK7KBM7SIR7C44","created_at":"2026-07-05T03:18:55Z"},{"alias_kind":"pith_short_8","alias_value":"KPOK7KBM","created_at":"2026-07-05T03:18:55Z"}],"graph_snapshots":[{"event_id":"sha256:f86a7697160f289ad8a40866b862d9be649cbcc37b57a5e28838365df4fde8b3","target":"graph","created_at":"2026-07-05T03:18:55Z","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/2109.15122/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions with human-driven vehicles into its planning. The problem is often formulated as a multi-agent game and solved using iterative algorithms operating on a discretized action or state space. Even if converging to a Nash equilibrium, the result will often be only sub-optimal. In this paper, we define a linear differential game for a set of interacting agents an","authors_text":"Alois Knoll, Klemens Esterle, Tobias Kessler","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-30T13:33:03Z","title":"Linear Differential Games for Cooperative Behavior Planning of Autonomous Vehicles Using Mixed-Integer Programming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.15122","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":"sha256:83ded6b5d0eda5df89501be8020f954fd484ce68014ca00bb4eaffea16c5ed4a","target":"record","created_at":"2026-07-05T03:18:55Z","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":"2331bd126a37d4ef9964667285d1ca346a7baa39da84027859d1748dd9a1c339","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-30T13:33:03Z","title_canon_sha256":"bf800b5a6946e13b279c2e359fdbd30ad4325543393fd6498266f205bd435f60"},"schema_version":"1.0","source":{"id":"2109.15122","kind":"arxiv","version":1}},"canonical_sha256":"53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b","first_computed_at":"2026-07-05T03:18:55.634710Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:18:55.634710Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LjwY+xr/dkn4SswbtqW26leL2xqFQZv/VPW+Ei/zdyt1iH7ZR3xAENI3SDmECscq2QVw6od/ykQoQ/+xBnw1Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:18:55.635256Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.15122","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:83ded6b5d0eda5df89501be8020f954fd484ce68014ca00bb4eaffea16c5ed4a","sha256:f86a7697160f289ad8a40866b862d9be649cbcc37b57a5e28838365df4fde8b3"],"state_sha256":"fffefe3223a0a9a1e34c4eb9e863896e6c8d34838cb2eeb32cea57740696727e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xo9TMFCHXk7e1tKklwtMPA0QGnZ+itIfLUeGOtOwhVE46ApZIfyU4ZOgQun5Ujs9NUjSGlETs4DI5atWBYi8AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T01:59:58.056695Z","bundle_sha256":"acdec840bc141fae61739e508e7947c7e7db8fcb2cd7ad0d599cbf6a92cfdbd7"}}