{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:PVBARMISD3H5YEMHTP4QWODGQU","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":"f716b35f6ff0ce811d0288deaaaa7a11926204c664d1f6c70fad9c3fbb5def5f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-29T03:53:24Z","title_canon_sha256":"2fd0c0ae798669ed59b6ccfcf2875ca42d7e17c5f7bf1b636bdb79445d2c830a"},"schema_version":"1.0","source":{"id":"1804.10865","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.10865","created_at":"2026-05-18T00:05:04Z"},{"alias_kind":"arxiv_version","alias_value":"1804.10865v2","created_at":"2026-05-18T00:05:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.10865","created_at":"2026-05-18T00:05:04Z"},{"alias_kind":"pith_short_12","alias_value":"PVBARMISD3H5","created_at":"2026-05-18T12:32:46Z"},{"alias_kind":"pith_short_16","alias_value":"PVBARMISD3H5YEMH","created_at":"2026-05-18T12:32:46Z"},{"alias_kind":"pith_short_8","alias_value":"PVBARMIS","created_at":"2026-05-18T12:32:46Z"}],"graph_snapshots":[{"event_id":"sha256:6635daa5640cb3eb8ec1b03eb1716fe00e2507f36ebfc88cf6717ddb6e3250cd","target":"graph","created_at":"2026-05-18T00:05:04Z","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":"In this paper, we present a control framework that allows magnetic microrobot teams to accomplish complex micromanipulation tasks captured by global Linear Temporal Logic (LTL) formulas. To address this problem, we propose an optimal control synthesis method that constructs discrete plans for the robots that satisfy both the assigned tasks as well as proximity constraints between the robots due to the physics of the problem. Our proposed algorithm relies on an existing optimal control synthesis approach combined with a novel sampling-based technique to reduce the state-space of the product aut","authors_text":"Benjamin Johnson, David J. Cappelleri, Michael M. Zavlanos, Sagar Chowdhury, Yiannis Kantaros","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-29T03:53:24Z","title":"Control of Magnetic Microrobot Teams for Temporal Micromanipulation Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.10865","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:ea66de22b21b7ea0b2c9e97ff302be5e941f9faebc34e9c71754a85068531232","target":"record","created_at":"2026-05-18T00:05:04Z","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":"f716b35f6ff0ce811d0288deaaaa7a11926204c664d1f6c70fad9c3fbb5def5f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-29T03:53:24Z","title_canon_sha256":"2fd0c0ae798669ed59b6ccfcf2875ca42d7e17c5f7bf1b636bdb79445d2c830a"},"schema_version":"1.0","source":{"id":"1804.10865","kind":"arxiv","version":2}},"canonical_sha256":"7d4208b1121ecfdc11879bf90b386685072f472f1e0dfaa937a8388973efc0ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7d4208b1121ecfdc11879bf90b386685072f472f1e0dfaa937a8388973efc0ee","first_computed_at":"2026-05-18T00:05:04.982224Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:04.982224Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Dr9kRcg1ep59HUaVtM46N+QZVAdJlWRTxw0zVz7tYDYD4eDoOVE6wFCPM30fexq6WDbcHtBx5Rl+aVMgvawGAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:04.982826Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.10865","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea66de22b21b7ea0b2c9e97ff302be5e941f9faebc34e9c71754a85068531232","sha256:6635daa5640cb3eb8ec1b03eb1716fe00e2507f36ebfc88cf6717ddb6e3250cd"],"state_sha256":"3a408bb646d9c0ee9d1a9f5bf030b40dfe3654d0b2ed708eca59878038545e91"}