{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:NNGZVPXF5BPIVXXVT3ZWFBULGX","short_pith_number":"pith:NNGZVPXF","canonical_record":{"source":{"id":"2505.08593","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-13T14:05:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba043b9e6d342dc612380f43a86f3dff186eeadf020973ac3a2bfad771100f8b","abstract_canon_sha256":"188e8e862ee0cf1629278de4c6030dc27218ea373683855d584db4f9d486ceba"},"schema_version":"1.0"},"canonical_sha256":"6b4d9abee5e85e8adef59ef362868b35facb340248b69986bebad7fdbe72c28e","source":{"kind":"arxiv","id":"2505.08593","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.08593","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"arxiv_version","alias_value":"2505.08593v1","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.08593","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_12","alias_value":"NNGZVPXF5BPI","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_16","alias_value":"NNGZVPXF5BPIVXXV","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_8","alias_value":"NNGZVPXF","created_at":"2026-07-05T11:02:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:NNGZVPXF5BPIVXXVT3ZWFBULGX","target":"record","payload":{"canonical_record":{"source":{"id":"2505.08593","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-13T14:05:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba043b9e6d342dc612380f43a86f3dff186eeadf020973ac3a2bfad771100f8b","abstract_canon_sha256":"188e8e862ee0cf1629278de4c6030dc27218ea373683855d584db4f9d486ceba"},"schema_version":"1.0"},"canonical_sha256":"6b4d9abee5e85e8adef59ef362868b35facb340248b69986bebad7fdbe72c28e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:02:33.209347Z","signature_b64":"ZVHWTFSQs8uOuo+OnPY5gU+frSk0EFJmWTAGln+beYnmJeHc6ub57Nw1FpNngGGu/xKgh17HA9YgDFHAs783CA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6b4d9abee5e85e8adef59ef362868b35facb340248b69986bebad7fdbe72c28e","last_reissued_at":"2026-07-05T11:02:33.208824Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:02:33.208824Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.08593","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":"2026-07-05T11:02:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A/TzhN7SNFmYwhVDLTfHIXdEw1Molr3J/WqYN/pokDaS5Rdbs6+H/ztprkz+1BPgYk4AJS4pzPEx0wcTQ+6kBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:19:46.290109Z"},"content_sha256":"1ca83f88734a914b0849392a2322d8bee4e9e69cde0bb760feea571aded4e464","schema_version":"1.0","event_id":"sha256:1ca83f88734a914b0849392a2322d8bee4e9e69cde0bb760feea571aded4e464"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:NNGZVPXF5BPIVXXVT3ZWFBULGX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Jungwon Park, Yunwoo Lee","submitted_at":"2025-05-13T14:05:07Z","abstract_excerpt":"For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates asynchronously and requires no communication except during the initial planning phase. Moreover, our algorithm guarantees no deadlock under asynchronous updates and absence of communication during flight. To effectively ensure these points, we build two main modules: coordination state updater and trajectory optimizer. The coordination state updater computes waypoint"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.08593","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/2505.08593/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":"2026-07-05T11:02:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j2jrdrvqUUrdYemsRINiJPGkpBXY4Z45pur4iziuSQkQMbxy+0Nk00I7p/s9uBzkU6Zrxs1WdX8UBWBxCg8ADQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:19:46.290438Z"},"content_sha256":"611cd0cbdd753a7b195b1edbe136773e912a9cc4a61a816a099a0fd1f5deb97d","schema_version":"1.0","event_id":"sha256:611cd0cbdd753a7b195b1edbe136773e912a9cc4a61a816a099a0fd1f5deb97d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/bundle.json","state_url":"https://pith.science/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/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":"2026-08-19T03:19:46Z","links":{"resolver":"https://pith.science/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX","bundle":"https://pith.science/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/bundle.json","state":"https://pith.science/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NNGZVPXF5BPIVXXVT3ZWFBULGX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:NNGZVPXF5BPIVXXVT3ZWFBULGX","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":"188e8e862ee0cf1629278de4c6030dc27218ea373683855d584db4f9d486ceba","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-13T14:05:07Z","title_canon_sha256":"ba043b9e6d342dc612380f43a86f3dff186eeadf020973ac3a2bfad771100f8b"},"schema_version":"1.0","source":{"id":"2505.08593","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.08593","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"arxiv_version","alias_value":"2505.08593v1","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.08593","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_12","alias_value":"NNGZVPXF5BPI","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_16","alias_value":"NNGZVPXF5BPIVXXV","created_at":"2026-07-05T11:02:33Z"},{"alias_kind":"pith_short_8","alias_value":"NNGZVPXF","created_at":"2026-07-05T11:02:33Z"}],"graph_snapshots":[{"event_id":"sha256:611cd0cbdd753a7b195b1edbe136773e912a9cc4a61a816a099a0fd1f5deb97d","target":"graph","created_at":"2026-07-05T11:02:33Z","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/2505.08593/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates asynchronously and requires no communication except during the initial planning phase. Moreover, our algorithm guarantees no deadlock under asynchronous updates and absence of communication during flight. To effectively ensure these points, we build two main modules: coordination state updater and trajectory optimizer. The coordination state updater computes waypoint","authors_text":"Jungwon Park, Yunwoo Lee","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-13T14:05:07Z","title":"MC-Swarm: Minimal-Communication Multi-Agent Trajectory Planning and Deadlock Resolution for Quadrotor Swarm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.08593","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":"sha256:1ca83f88734a914b0849392a2322d8bee4e9e69cde0bb760feea571aded4e464","target":"record","created_at":"2026-07-05T11:02:33Z","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":"188e8e862ee0cf1629278de4c6030dc27218ea373683855d584db4f9d486ceba","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-13T14:05:07Z","title_canon_sha256":"ba043b9e6d342dc612380f43a86f3dff186eeadf020973ac3a2bfad771100f8b"},"schema_version":"1.0","source":{"id":"2505.08593","kind":"arxiv","version":1}},"canonical_sha256":"6b4d9abee5e85e8adef59ef362868b35facb340248b69986bebad7fdbe72c28e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6b4d9abee5e85e8adef59ef362868b35facb340248b69986bebad7fdbe72c28e","first_computed_at":"2026-07-05T11:02:33.208824Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:02:33.208824Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ZVHWTFSQs8uOuo+OnPY5gU+frSk0EFJmWTAGln+beYnmJeHc6ub57Nw1FpNngGGu/xKgh17HA9YgDFHAs783CA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:02:33.209347Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.08593","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1ca83f88734a914b0849392a2322d8bee4e9e69cde0bb760feea571aded4e464","sha256:611cd0cbdd753a7b195b1edbe136773e912a9cc4a61a816a099a0fd1f5deb97d"],"state_sha256":"ce829c41103d9c732a3a824b42fe4ac72ebebf1942790e904aca3e1851c4ac45"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GfNIBWd2A8CLGImF1i/uG5USfzpbnLP3yvtmLp9tKWwrSxuCQ1KrPJTIOKFh53WNUyZ/8EA6Iz1Sf3qPBlDoDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T03:19:46.293682Z","bundle_sha256":"60ad9f27540f7c0059d0656481f918c55c1059c7f078c9860124b024f17beaa3"}}