{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:TQ4W7NEIUX2ELNRLSB6SUUXHZ6","short_pith_number":"pith:TQ4W7NEI","canonical_record":{"source":{"id":"2102.09104","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-18T01:31:17Z","cross_cats_sorted":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"title_canon_sha256":"0abeb0a316c2a7c4fb5b6731cc5720d93f4906dd1e04493759e50e9e417e245c","abstract_canon_sha256":"ec6bd51586ccf667615f1bdc12aed5771f2e9ac0523ea39b9cd088f5dbe4f9d4"},"schema_version":"1.0"},"canonical_sha256":"9c396fb488a5f445b62b907d2a52e7cfb07d7f30ed981afe9017f74b5c1db2d9","source":{"kind":"arxiv","id":"2102.09104","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.09104","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"arxiv_version","alias_value":"2102.09104v1","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.09104","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_12","alias_value":"TQ4W7NEIUX2E","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_16","alias_value":"TQ4W7NEIUX2ELNRL","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_8","alias_value":"TQ4W7NEI","created_at":"2026-07-05T02:16:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:TQ4W7NEIUX2ELNRLSB6SUUXHZ6","target":"record","payload":{"canonical_record":{"source":{"id":"2102.09104","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-18T01:31:17Z","cross_cats_sorted":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"title_canon_sha256":"0abeb0a316c2a7c4fb5b6731cc5720d93f4906dd1e04493759e50e9e417e245c","abstract_canon_sha256":"ec6bd51586ccf667615f1bdc12aed5771f2e9ac0523ea39b9cd088f5dbe4f9d4"},"schema_version":"1.0"},"canonical_sha256":"9c396fb488a5f445b62b907d2a52e7cfb07d7f30ed981afe9017f74b5c1db2d9","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:16:19.361302Z","signature_b64":"chFquTuhVUWjzwKxDhrUDhF4MgN+qOVrRglUnQHEZAgh2nXsyzI/kfvIH6AS9/BQ87du8keZHIcaDl94pj4KBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c396fb488a5f445b62b907d2a52e7cfb07d7f30ed981afe9017f74b5c1db2d9","last_reissued_at":"2026-07-05T02:16:19.360898Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:16:19.360898Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2102.09104","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":"2026-07-05T02:16:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lW34qIo37zgA7P1E/7l62HHSuEGH2WC4FCMCOGkNjv2pvXtSWubKI6kBNmW80Vp8HoMTMWGFUjh2P2KZGUSuCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:16:34.633372Z"},"content_sha256":"785266f07795e51d880330e27f4e1edde351e490bd3c31636619ad9485c38b0b","schema_version":"1.0","event_id":"sha256:785266f07795e51d880330e27f4e1edde351e490bd3c31636619ad9485c38b0b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:TQ4W7NEIUX2ELNRLSB6SUUXHZ6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"primary_cat":"cs.LG","authors_text":"Aditya Gahlawat, Evangelos A. Theodorou, Naira Hovakimyan, Neng Wan, Petros G. Voulgaris","submitted_at":"2021-02-18T01:31:17Z","abstract_excerpt":"Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the optimal control problem of a networked MAS into several local optimal control problems in factorial subsystems, such that each (central) agent behaves optimally to minimize the joint cost function of a subsystem that comprises a central agent and its neighboring agents, and the local control actions (policies) only rely on the knowledge of local observation"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.09104","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/2102.09104/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":"2026-07-05T02:16:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NvLOgPP08D69BOwhlzD76ytxvQgArSA+JZQ4vK1Lnh9xYEApK1WGRUaqBys4Roco+m6DrcEO3gXIviUNhFPpDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:16:34.633760Z"},"content_sha256":"d89d03e93257d4e71848d635e036270f78135568c362db7f6e599e9c2083645d","schema_version":"1.0","event_id":"sha256:d89d03e93257d4e71848d635e036270f78135568c362db7f6e599e9c2083645d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/bundle.json","state_url":"https://pith.science/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/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":"2026-07-07T07:16:34Z","links":{"resolver":"https://pith.science/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6","bundle":"https://pith.science/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/bundle.json","state":"https://pith.science/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TQ4W7NEIUX2ELNRLSB6SUUXHZ6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:TQ4W7NEIUX2ELNRLSB6SUUXHZ6","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":"ec6bd51586ccf667615f1bdc12aed5771f2e9ac0523ea39b9cd088f5dbe4f9d4","cross_cats_sorted":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-18T01:31:17Z","title_canon_sha256":"0abeb0a316c2a7c4fb5b6731cc5720d93f4906dd1e04493759e50e9e417e245c"},"schema_version":"1.0","source":{"id":"2102.09104","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.09104","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"arxiv_version","alias_value":"2102.09104v1","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.09104","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_12","alias_value":"TQ4W7NEIUX2E","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_16","alias_value":"TQ4W7NEIUX2ELNRL","created_at":"2026-07-05T02:16:19Z"},{"alias_kind":"pith_short_8","alias_value":"TQ4W7NEI","created_at":"2026-07-05T02:16:19Z"}],"graph_snapshots":[{"event_id":"sha256:d89d03e93257d4e71848d635e036270f78135568c362db7f6e599e9c2083645d","target":"graph","created_at":"2026-07-05T02:16:19Z","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/2102.09104/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the optimal control problem of a networked MAS into several local optimal control problems in factorial subsystems, such that each (central) agent behaves optimally to minimize the joint cost function of a subsystem that comprises a central agent and its neighboring agents, and the local control actions (policies) only rely on the knowledge of local observation","authors_text":"Aditya Gahlawat, Evangelos A. Theodorou, Naira Hovakimyan, Neng Wan, Petros G. Voulgaris","cross_cats":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-18T01:31:17Z","title":"Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.09104","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":"sha256:785266f07795e51d880330e27f4e1edde351e490bd3c31636619ad9485c38b0b","target":"record","created_at":"2026-07-05T02:16:19Z","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":"ec6bd51586ccf667615f1bdc12aed5771f2e9ac0523ea39b9cd088f5dbe4f9d4","cross_cats_sorted":["cs.MA","cs.RO","cs.SY","eess.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2021-02-18T01:31:17Z","title_canon_sha256":"0abeb0a316c2a7c4fb5b6731cc5720d93f4906dd1e04493759e50e9e417e245c"},"schema_version":"1.0","source":{"id":"2102.09104","kind":"arxiv","version":1}},"canonical_sha256":"9c396fb488a5f445b62b907d2a52e7cfb07d7f30ed981afe9017f74b5c1db2d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c396fb488a5f445b62b907d2a52e7cfb07d7f30ed981afe9017f74b5c1db2d9","first_computed_at":"2026-07-05T02:16:19.360898Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:16:19.360898Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"chFquTuhVUWjzwKxDhrUDhF4MgN+qOVrRglUnQHEZAgh2nXsyzI/kfvIH6AS9/BQ87du8keZHIcaDl94pj4KBA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:16:19.361302Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.09104","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:785266f07795e51d880330e27f4e1edde351e490bd3c31636619ad9485c38b0b","sha256:d89d03e93257d4e71848d635e036270f78135568c362db7f6e599e9c2083645d"],"state_sha256":"b312c654c0b787c2f17b8f04c34c06f84469c44d4bff894dc7befbebc903fbbe"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OTOhlyILg2BNrjh7eV3yFyBAw8zkh4VJ1xxKxjSaoGDwoukEVnApo0kN8dEQBQt9psxDkxUANCzlIMKQ2W78Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T07:16:34.636158Z","bundle_sha256":"1e1b935229b0d590118e41a91c0a5bd0bfc9686d028257ae427dddbd21e2b21c"}}