{"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"}