{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:MY3V6XVVKTAQLO2QWJRZBODSFU","short_pith_number":"pith:MY3V6XVV","canonical_record":{"source":{"id":"2406.13829","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T20:47:42Z","cross_cats_sorted":[],"title_canon_sha256":"11105fc11391911905a0b9f31a5df04486fc95353223d070cc98ce1e339291f6","abstract_canon_sha256":"3cd4d315c6084fdc3790f58b43575e3d99b11aa65de5ac5d7912d837db36bbcc"},"schema_version":"1.0"},"canonical_sha256":"66375f5eb554c105bb50b26390b8722d264793c2fe28335bdef2c62b36c11c95","source":{"kind":"arxiv","id":"2406.13829","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.13829","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"arxiv_version","alias_value":"2406.13829v2","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.13829","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_12","alias_value":"MY3V6XVVKTAQ","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_16","alias_value":"MY3V6XVVKTAQLO2Q","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_8","alias_value":"MY3V6XVV","created_at":"2026-07-05T09:46:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:MY3V6XVVKTAQLO2QWJRZBODSFU","target":"record","payload":{"canonical_record":{"source":{"id":"2406.13829","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T20:47:42Z","cross_cats_sorted":[],"title_canon_sha256":"11105fc11391911905a0b9f31a5df04486fc95353223d070cc98ce1e339291f6","abstract_canon_sha256":"3cd4d315c6084fdc3790f58b43575e3d99b11aa65de5ac5d7912d837db36bbcc"},"schema_version":"1.0"},"canonical_sha256":"66375f5eb554c105bb50b26390b8722d264793c2fe28335bdef2c62b36c11c95","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:46:48.095553Z","signature_b64":"3gdHY/GmFvHC5tOZtGYKZwkPtqM72juUM5eUA1YfG2xRstpuB4UlQ7EXM2S3WSz/om5+/cc30urJxJEGYoIQAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"66375f5eb554c105bb50b26390b8722d264793c2fe28335bdef2c62b36c11c95","last_reissued_at":"2026-07-05T09:46:48.095063Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:46:48.095063Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.13829","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T09:46:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XgGkzS5xBW8u2mmu626VbrpOzf9RrPMV1pfNI7Mvd5mIuFBZ5lfjgHolO+bVoBndCuGMa8cWJ/OrTYSbKXgJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T12:53:55.648365Z"},"content_sha256":"9ae5cbb0ebcb6496d397ece03882f23e72e439c8f086ab8c555b8968ed67bed2","schema_version":"1.0","event_id":"sha256:9ae5cbb0ebcb6496d397ece03882f23e72e439c8f086ab8c555b8968ed67bed2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:MY3V6XVVKTAQLO2QWJRZBODSFU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Group-Control Motion Planning Framework for Microrobot Swarms in a Global Field","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Afagh Mehri Shervedani, Igor Paprotny, Milo\\v{s} \\v{Z}efran, Siyu Li","submitted_at":"2024-06-19T20:47:42Z","abstract_excerpt":"This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable through group-control, with the minimum number of groups required for STLC being $\\log_2(n + 2) + 1$ for $n$ robots. We then discuss the trade-offs between control complexity, motion planning complexity, and motion efficiency. We show how motion planning can be simplified if appropriate primitives can be achieved through more complex control actions. We identi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.13829","kind":"arxiv","version":2},"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/2406.13829/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":"2026-07-05T09:46:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"le35aTxrLEPswQNiUdpdytTO5EsEeFz0bpwMoi1l38VDnGjp9kUyUgqQDQaEaEmmQfHpGoFrTLIaUM7zmUc/Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T12:53:55.648749Z"},"content_sha256":"0c330aeaf3b4566fcf797fb8bb08c9aff082354ee40bc531c108526fa36b77f0","schema_version":"1.0","event_id":"sha256:0c330aeaf3b4566fcf797fb8bb08c9aff082354ee40bc531c108526fa36b77f0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/bundle.json","state_url":"https://pith.science/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/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":"2026-07-09T12:53:55Z","links":{"resolver":"https://pith.science/pith/MY3V6XVVKTAQLO2QWJRZBODSFU","bundle":"https://pith.science/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/bundle.json","state":"https://pith.science/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MY3V6XVVKTAQLO2QWJRZBODSFU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:MY3V6XVVKTAQLO2QWJRZBODSFU","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":"3cd4d315c6084fdc3790f58b43575e3d99b11aa65de5ac5d7912d837db36bbcc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T20:47:42Z","title_canon_sha256":"11105fc11391911905a0b9f31a5df04486fc95353223d070cc98ce1e339291f6"},"schema_version":"1.0","source":{"id":"2406.13829","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.13829","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"arxiv_version","alias_value":"2406.13829v2","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.13829","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_12","alias_value":"MY3V6XVVKTAQ","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_16","alias_value":"MY3V6XVVKTAQLO2Q","created_at":"2026-07-05T09:46:48Z"},{"alias_kind":"pith_short_8","alias_value":"MY3V6XVV","created_at":"2026-07-05T09:46:48Z"}],"graph_snapshots":[{"event_id":"sha256:0c330aeaf3b4566fcf797fb8bb08c9aff082354ee40bc531c108526fa36b77f0","target":"graph","created_at":"2026-07-05T09:46:48Z","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/2406.13829/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable through group-control, with the minimum number of groups required for STLC being $\\log_2(n + 2) + 1$ for $n$ robots. We then discuss the trade-offs between control complexity, motion planning complexity, and motion efficiency. We show how motion planning can be simplified if appropriate primitives can be achieved through more complex control actions. We identi","authors_text":"Afagh Mehri Shervedani, Igor Paprotny, Milo\\v{s} \\v{Z}efran, Siyu Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T20:47:42Z","title":"Group-Control Motion Planning Framework for Microrobot Swarms in a Global Field"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.13829","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":"sha256:9ae5cbb0ebcb6496d397ece03882f23e72e439c8f086ab8c555b8968ed67bed2","target":"record","created_at":"2026-07-05T09:46:48Z","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":"3cd4d315c6084fdc3790f58b43575e3d99b11aa65de5ac5d7912d837db36bbcc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-19T20:47:42Z","title_canon_sha256":"11105fc11391911905a0b9f31a5df04486fc95353223d070cc98ce1e339291f6"},"schema_version":"1.0","source":{"id":"2406.13829","kind":"arxiv","version":2}},"canonical_sha256":"66375f5eb554c105bb50b26390b8722d264793c2fe28335bdef2c62b36c11c95","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"66375f5eb554c105bb50b26390b8722d264793c2fe28335bdef2c62b36c11c95","first_computed_at":"2026-07-05T09:46:48.095063Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:46:48.095063Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3gdHY/GmFvHC5tOZtGYKZwkPtqM72juUM5eUA1YfG2xRstpuB4UlQ7EXM2S3WSz/om5+/cc30urJxJEGYoIQAA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:46:48.095553Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.13829","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9ae5cbb0ebcb6496d397ece03882f23e72e439c8f086ab8c555b8968ed67bed2","sha256:0c330aeaf3b4566fcf797fb8bb08c9aff082354ee40bc531c108526fa36b77f0"],"state_sha256":"1a8af06e6964c8c4d4daed8f4273dbe960116734e3991c113de6f34acf8af453"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Pa8ZYSDpqUaWxckwQIp60G/Ba4aD8eeNmYO8ZNErj9RqI5Ip/LXJQu3Oz1lEt6yLasqJcJfLgaOGsTUIpeMHBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T12:53:55.651009Z","bundle_sha256":"d2847f331b3fb8e3c8ae3c6d82f7735f438a5c656aec0e766cd99c0d1338f226"}}