{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:TNEXOZDZZOBFZXWZRKDQSAL5MT","short_pith_number":"pith:TNEXOZDZ","canonical_record":{"source":{"id":"2605.19209","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T00:18:54Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"d6bf6bc12d4c094f905115a1cd843d2e4cdadd43317368aced7acaa0dc994881","abstract_canon_sha256":"5a07d50cc02f67a68dcbd7487bb42cae24c093c4aeef0243cf0e5d9d7f85da35"},"schema_version":"1.0"},"canonical_sha256":"9b49776479cb825cded98a8709017d64d20cf94b0b008cf57c2b87ed26de74e1","source":{"kind":"arxiv","id":"2605.19209","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.19209","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"arxiv_version","alias_value":"2605.19209v1","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.19209","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_12","alias_value":"TNEXOZDZZOBF","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_16","alias_value":"TNEXOZDZZOBFZXWZ","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_8","alias_value":"TNEXOZDZ","created_at":"2026-05-20T01:05:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:TNEXOZDZZOBFZXWZRKDQSAL5MT","target":"record","payload":{"canonical_record":{"source":{"id":"2605.19209","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T00:18:54Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"d6bf6bc12d4c094f905115a1cd843d2e4cdadd43317368aced7acaa0dc994881","abstract_canon_sha256":"5a07d50cc02f67a68dcbd7487bb42cae24c093c4aeef0243cf0e5d9d7f85da35"},"schema_version":"1.0"},"canonical_sha256":"9b49776479cb825cded98a8709017d64d20cf94b0b008cf57c2b87ed26de74e1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T01:05:33.703282Z","signature_b64":"TBzmro3ILex1xOxA6/dZIy8vjp4N+luieXxZW6kSGzbNWjxxWS7JstFDxob9gx+l4QmyJPeEVqStTc47X10dBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9b49776479cb825cded98a8709017d64d20cf94b0b008cf57c2b87ed26de74e1","last_reissued_at":"2026-05-20T01:05:33.702742Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T01:05:33.702742Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.19209","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":"2026-05-20T01:05:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zfMSwPpOJFOv/A8muBhL41Z5lW2FNRDF1QiCGxKzl+xPo6ONEgRl8zhMO64mkRXEOi78n/zWgISIzTvIH6QYBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T22:22:24.507242Z"},"content_sha256":"b833be895f2c2727aac6382e89398caf4472efb02256bb0929dffb8c2c01ac06","schema_version":"1.0","event_id":"sha256:b833be895f2c2727aac6382e89398caf4472efb02256bb0929dffb8c2c01ac06"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:TNEXOZDZZOBFZXWZRKDQSAL5MT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Giuseppe Loianno, Manohari Goarin, Yang Zhou","submitted_at":"2026-05-19T00:18:54Z","abstract_excerpt":"The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating safe trajectories is central in many collaborative tasks. Recent Graph Neural Network methods offer scalable decentralized solutions but rely on simplified dynamics and simulation environments, overlooking key challenges of real-world deployment such as dynamic feasibility and communication constraints. To address these gaps, we propose a hierarchical framework that combines a Graph ATtention Planner (GATP) with a decentralized Nonlinear Model Predictive Controller (NMPC). GATP provides i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19209","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/2605.19209/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":"2026-05-20T01:05:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"91Tsnfwvp+YdTNHgqW9U+1cGxxApPh30ddXXlS0uJ/lTZTn+ifS9J5ea3T4vLYepZYszl8GlNSNg/PmugT3RBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-29T22:22:24.507954Z"},"content_sha256":"740e88aee737686f0ef0c97ebe092c6290d081121be36220bb008850fda95879","schema_version":"1.0","event_id":"sha256:740e88aee737686f0ef0c97ebe092c6290d081121be36220bb008850fda95879"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/bundle.json","state_url":"https://pith.science/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/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":"2026-05-29T22:22:24Z","links":{"resolver":"https://pith.science/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT","bundle":"https://pith.science/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/bundle.json","state":"https://pith.science/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TNEXOZDZZOBFZXWZRKDQSAL5MT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:TNEXOZDZZOBFZXWZRKDQSAL5MT","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":"5a07d50cc02f67a68dcbd7487bb42cae24c093c4aeef0243cf0e5d9d7f85da35","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T00:18:54Z","title_canon_sha256":"d6bf6bc12d4c094f905115a1cd843d2e4cdadd43317368aced7acaa0dc994881"},"schema_version":"1.0","source":{"id":"2605.19209","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.19209","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"arxiv_version","alias_value":"2605.19209v1","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.19209","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_12","alias_value":"TNEXOZDZZOBF","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_16","alias_value":"TNEXOZDZZOBFZXWZ","created_at":"2026-05-20T01:05:33Z"},{"alias_kind":"pith_short_8","alias_value":"TNEXOZDZ","created_at":"2026-05-20T01:05:33Z"}],"graph_snapshots":[{"event_id":"sha256:740e88aee737686f0ef0c97ebe092c6290d081121be36220bb008850fda95879","target":"graph","created_at":"2026-05-20T01:05:33Z","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/2605.19209/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The multi-robot unlabeled motion planning problem of concurrently assigning robots to goals and generating safe trajectories is central in many collaborative tasks. Recent Graph Neural Network methods offer scalable decentralized solutions but rely on simplified dynamics and simulation environments, overlooking key challenges of real-world deployment such as dynamic feasibility and communication constraints. To address these gaps, we propose a hierarchical framework that combines a Graph ATtention Planner (GATP) with a decentralized Nonlinear Model Predictive Controller (NMPC). GATP provides i","authors_text":"Giuseppe Loianno, Manohari Goarin, Yang Zhou","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T00:18:54Z","title":"Graph Neural Planning and Predictive Control for Multi-Robot Communication-Constrained Unlabeled Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19209","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:b833be895f2c2727aac6382e89398caf4472efb02256bb0929dffb8c2c01ac06","target":"record","created_at":"2026-05-20T01:05:33Z","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":"5a07d50cc02f67a68dcbd7487bb42cae24c093c4aeef0243cf0e5d9d7f85da35","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/publicdomain/zero/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T00:18:54Z","title_canon_sha256":"d6bf6bc12d4c094f905115a1cd843d2e4cdadd43317368aced7acaa0dc994881"},"schema_version":"1.0","source":{"id":"2605.19209","kind":"arxiv","version":1}},"canonical_sha256":"9b49776479cb825cded98a8709017d64d20cf94b0b008cf57c2b87ed26de74e1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9b49776479cb825cded98a8709017d64d20cf94b0b008cf57c2b87ed26de74e1","first_computed_at":"2026-05-20T01:05:33.702742Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T01:05:33.702742Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TBzmro3ILex1xOxA6/dZIy8vjp4N+luieXxZW6kSGzbNWjxxWS7JstFDxob9gx+l4QmyJPeEVqStTc47X10dBw==","signature_status":"signed_v1","signed_at":"2026-05-20T01:05:33.703282Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.19209","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b833be895f2c2727aac6382e89398caf4472efb02256bb0929dffb8c2c01ac06","sha256:740e88aee737686f0ef0c97ebe092c6290d081121be36220bb008850fda95879"],"state_sha256":"d413f8f233cbeda28b0001d9420349e6979201e036776f947710accbe94b705e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g9pGEfSJVUdeDak5OIkszgmYOrUFPU7M7jPMZ6u3MyYmXDlJlPKAgpGLMEia+BjfCCJW2bYP1w9pLMSFuw+MAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-29T22:22:24.511835Z","bundle_sha256":"c18a1fce809358f26ef841d34f6f7568815950b98cc9198aad08b07b35001ec8"}}