{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:QJD4XJPPZW4MLYWYKVJTSOGXE6","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":"006bbb99b3d7a58f4704d069e808ab375d06dacd937128102821ec8b8c08927b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.AI","submitted_at":"2021-02-17T11:09:33Z","title_canon_sha256":"28dbe7bf352d190cfdd86909560de2209abe4b84169ab434215f27827098206c"},"schema_version":"1.0","source":{"id":"2102.08689","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.08689","created_at":"2026-07-05T03:26:39Z"},{"alias_kind":"arxiv_version","alias_value":"2102.08689v2","created_at":"2026-07-05T03:26:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.08689","created_at":"2026-07-05T03:26:39Z"},{"alias_kind":"pith_short_12","alias_value":"QJD4XJPPZW4M","created_at":"2026-07-05T03:26:39Z"},{"alias_kind":"pith_short_16","alias_value":"QJD4XJPPZW4MLYWY","created_at":"2026-07-05T03:26:39Z"},{"alias_kind":"pith_short_8","alias_value":"QJD4XJPP","created_at":"2026-07-05T03:26:39Z"}],"graph_snapshots":[{"event_id":"sha256:2f5bf65cf96f6b75085fcdf0a1a39857df508a2c2e71f799e127d9d9345c45ad","target":"graph","created_at":"2026-07-05T03:26:39Z","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/2102.08689/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"During Multi-Agent Path Finding (MAPF) problems, agents can be delayed by unexpected events. To address such situations recent work describes k-Robust Conflict-BasedSearch (k-CBS): an algorithm that produces coordinated and collision-free plan that is robust for up to k delays. In this work we introducing a variety of pairwise symmetry breaking constraints, specific to k-robust planning, that can efficiently find compatible and optimal paths for pairs of conflicting agents. We give a thorough description of the new constraints and report large improvements to success rate ina range of domains ","authors_text":"Daniel Harabor, Jiaoyang Li, Peter J. Stuckey, Zhe Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.AI","submitted_at":"2021-02-17T11:09:33Z","title":"Symmetry Breaking for k-Robust Multi-Agent Path Finding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.08689","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:f94a83255e2238cf902036ac4c865e14340ef1e5e5a87996b36932b080b8bd53","target":"record","created_at":"2026-07-05T03:26:39Z","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":"006bbb99b3d7a58f4704d069e808ab375d06dacd937128102821ec8b8c08927b","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.AI","submitted_at":"2021-02-17T11:09:33Z","title_canon_sha256":"28dbe7bf352d190cfdd86909560de2209abe4b84169ab434215f27827098206c"},"schema_version":"1.0","source":{"id":"2102.08689","kind":"arxiv","version":2}},"canonical_sha256":"8247cba5efcdb8c5e2d855533938d727bd9797f7ef32aaa2d38d4ffedb7f7b63","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8247cba5efcdb8c5e2d855533938d727bd9797f7ef32aaa2d38d4ffedb7f7b63","first_computed_at":"2026-07-05T03:26:39.094016Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:26:39.094016Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1ph1IsPKHJL8b8x5LtI79Xv+t8Tutf1QQQlEJhZyCvLUuttyFkxr0Y6aY3tMdexZOxmF0THOReeOjuvXp2XVBg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:26:39.094428Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.08689","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f94a83255e2238cf902036ac4c865e14340ef1e5e5a87996b36932b080b8bd53","sha256:2f5bf65cf96f6b75085fcdf0a1a39857df508a2c2e71f799e127d9d9345c45ad"],"state_sha256":"d1d414df8452aff3d484f3383ffde2e25637eb92df2fcf45897e3ea7abe97a0b"}