{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:MEB4IEAEYWEPTL5W6RYCE7XZWQ","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":"087a2d32485cbda22426e5f5fc4c6f12c520df68603c69b957f9c2b8d0840741","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-09-21T00:50:23Z","title_canon_sha256":"111d0f1b5484cc1ba7033a4eb80c75401fd15eab82e381ed161a76f7dd9edf5d"},"schema_version":"1.0","source":{"id":"1709.07114","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.07114","created_at":"2026-05-18T00:04:32Z"},{"alias_kind":"arxiv_version","alias_value":"1709.07114v2","created_at":"2026-05-18T00:04:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.07114","created_at":"2026-05-18T00:04:32Z"},{"alias_kind":"pith_short_12","alias_value":"MEB4IEAEYWEP","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_16","alias_value":"MEB4IEAEYWEPTL5W","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_8","alias_value":"MEB4IEAE","created_at":"2026-05-18T12:31:31Z"}],"graph_snapshots":[{"event_id":"sha256:4417f111f15fea9837b6b88a5894a38df66a8dc0e72c5e693389ac0bbe2af191","target":"graph","created_at":"2026-05-18T00:04:32Z","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":"Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agen","authors_text":"David Meger, Mark Coates, Matthew Vertescher, Peter Henderson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-09-21T00:50:23Z","title":"Cost Adaptation for Robust Decentralized Swarm Behaviour"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.07114","kind":"arxiv","version":2},"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":"sha256:275d369ed8098743913245714411e9eaf40d874a5eff1b1084bdbc09188d4c0c","target":"record","created_at":"2026-05-18T00:04:32Z","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":"087a2d32485cbda22426e5f5fc4c6f12c520df68603c69b957f9c2b8d0840741","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2017-09-21T00:50:23Z","title_canon_sha256":"111d0f1b5484cc1ba7033a4eb80c75401fd15eab82e381ed161a76f7dd9edf5d"},"schema_version":"1.0","source":{"id":"1709.07114","kind":"arxiv","version":2}},"canonical_sha256":"6103c41004c588f9afb6f470227ef9b4324d6724aff6b971f5ed0b9089bdbfb9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6103c41004c588f9afb6f470227ef9b4324d6724aff6b971f5ed0b9089bdbfb9","first_computed_at":"2026-05-18T00:04:32.377217Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:04:32.377217Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NMmUpzYDIpCS5+ZxIG/8m8c2ku4HFq3kt4UiPJi5iLuOdV1wd7qBTTgVm9yx/3qvfpfGkbziWt1A+HUzvJiHAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:04:32.377714Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.07114","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:275d369ed8098743913245714411e9eaf40d874a5eff1b1084bdbc09188d4c0c","sha256:4417f111f15fea9837b6b88a5894a38df66a8dc0e72c5e693389ac0bbe2af191"],"state_sha256":"53d1a5a96a40f4eaa5a5aa4867fc7d544281caa51aac79cfe0c8994b1ae0fe30"}