{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:U5AMDU7ARZWRZLVJIFA5E2TWWB","short_pith_number":"pith:U5AMDU7A","canonical_record":{"source":{"id":"2607.00444","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-01T04:58:00Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e8d44d393cf0938ed8c7fcbf28e06725283822699f397c0c7b18f08a0b679b19","abstract_canon_sha256":"ef2003f84ae29b447db2dccc656c3f5d9c8d4b25849b0ae8b9f0e91f224698f0"},"schema_version":"1.0"},"canonical_sha256":"a740c1d3e08e6d1caea94141d26a76b07493d129ee4bdf1729edd486df7f0f8b","source":{"kind":"arxiv","id":"2607.00444","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00444","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00444v1","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00444","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"U5AMDU7ARZWR","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"U5AMDU7ARZWRZLVJ","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"U5AMDU7A","created_at":"2026-07-02T01:17:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:U5AMDU7ARZWRZLVJIFA5E2TWWB","target":"record","payload":{"canonical_record":{"source":{"id":"2607.00444","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-01T04:58:00Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e8d44d393cf0938ed8c7fcbf28e06725283822699f397c0c7b18f08a0b679b19","abstract_canon_sha256":"ef2003f84ae29b447db2dccc656c3f5d9c8d4b25849b0ae8b9f0e91f224698f0"},"schema_version":"1.0"},"canonical_sha256":"a740c1d3e08e6d1caea94141d26a76b07493d129ee4bdf1729edd486df7f0f8b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-02T01:17:43.543287Z","signature_b64":"IzJZUbz/cnByn7Rskjx196xmMCpmRxbwWOZz1A0WS2iwpjrehue4aCfEspqwBGWRyZHYWQFxaWTKiXHF3bKTCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a740c1d3e08e6d1caea94141d26a76b07493d129ee4bdf1729edd486df7f0f8b","last_reissued_at":"2026-07-02T01:17:43.542887Z","signature_status":"signed_v1","first_computed_at":"2026-07-02T01:17:43.542887Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.00444","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":"2026-07-02T01:17:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HZ0cThHxheftu1IWSemwE323nH2S8dv1Pi86V3DYgvbKfGVSpc1ldNivAzXPcBNpfFuQiRWLqRmc3owkzSHmDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T18:30:46.520984Z"},"content_sha256":"007f4d4dd1e263644fc50543611cec9915811a77b3fccc657f1467c696291934","schema_version":"1.0","event_id":"sha256:007f4d4dd1e263644fc50543611cec9915811a77b3fccc657f1467c696291934"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:U5AMDU7ARZWRZLVJIFA5E2TWWB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Hang Ma, Jingtao Tang, Lufan Yang, Zining Mao","submitted_at":"2026-07-01T04:58:00Z","abstract_excerpt":"Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous spaces when feasible regions are transient and geometrically constrained. We present an algorithmic framework based on graphs of space-time convex sets (ST-GCSs), where collision-free regions are represented as convex sets in space-time and trajectories correspond to paths on the graph together with continuous motions within the selected sets. We formulate time-optimal planning on ST-GCSs as a graph-search problem o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00444","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/2607.00444/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":"2026-07-02T01:17:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1Vj7ss+UlCqLeqIKvLRhwbPAHmlb/e3+/3DuDyQ15mEVu9nc6yPzeEtvx0Jaua8yeWBc7Ak8bMEOZN7kKXWQBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-03T18:30:46.521581Z"},"content_sha256":"057fe0a53a224c9f68681f0acee2a40420cda2dd9396f6edff32656d91e6fcd0","schema_version":"1.0","event_id":"sha256:057fe0a53a224c9f68681f0acee2a40420cda2dd9396f6edff32656d91e6fcd0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/bundle.json","state_url":"https://pith.science/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/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":"2026-07-03T18:30:46Z","links":{"resolver":"https://pith.science/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB","bundle":"https://pith.science/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/bundle.json","state":"https://pith.science/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/U5AMDU7ARZWRZLVJIFA5E2TWWB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:U5AMDU7ARZWRZLVJIFA5E2TWWB","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":"ef2003f84ae29b447db2dccc656c3f5d9c8d4b25849b0ae8b9f0e91f224698f0","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-01T04:58:00Z","title_canon_sha256":"e8d44d393cf0938ed8c7fcbf28e06725283822699f397c0c7b18f08a0b679b19"},"schema_version":"1.0","source":{"id":"2607.00444","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.00444","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2607.00444v1","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.00444","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"U5AMDU7ARZWR","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"U5AMDU7ARZWRZLVJ","created_at":"2026-07-02T01:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"U5AMDU7A","created_at":"2026-07-02T01:17:43Z"}],"graph_snapshots":[{"event_id":"sha256:057fe0a53a224c9f68681f0acee2a40420cda2dd9396f6edff32656d91e6fcd0","target":"graph","created_at":"2026-07-02T01:17:43Z","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/2607.00444/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous spaces when feasible regions are transient and geometrically constrained. We present an algorithmic framework based on graphs of space-time convex sets (ST-GCSs), where collision-free regions are represented as convex sets in space-time and trajectories correspond to paths on the graph together with continuous motions within the selected sets. We formulate time-optimal planning on ST-GCSs as a graph-search problem o","authors_text":"Hang Ma, Jingtao Tang, Lufan Yang, Zining Mao","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-01T04:58:00Z","title":"Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.00444","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":"sha256:007f4d4dd1e263644fc50543611cec9915811a77b3fccc657f1467c696291934","target":"record","created_at":"2026-07-02T01:17:43Z","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":"ef2003f84ae29b447db2dccc656c3f5d9c8d4b25849b0ae8b9f0e91f224698f0","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-01T04:58:00Z","title_canon_sha256":"e8d44d393cf0938ed8c7fcbf28e06725283822699f397c0c7b18f08a0b679b19"},"schema_version":"1.0","source":{"id":"2607.00444","kind":"arxiv","version":1}},"canonical_sha256":"a740c1d3e08e6d1caea94141d26a76b07493d129ee4bdf1729edd486df7f0f8b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a740c1d3e08e6d1caea94141d26a76b07493d129ee4bdf1729edd486df7f0f8b","first_computed_at":"2026-07-02T01:17:43.542887Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-02T01:17:43.542887Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IzJZUbz/cnByn7Rskjx196xmMCpmRxbwWOZz1A0WS2iwpjrehue4aCfEspqwBGWRyZHYWQFxaWTKiXHF3bKTCw==","signature_status":"signed_v1","signed_at":"2026-07-02T01:17:43.543287Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.00444","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:007f4d4dd1e263644fc50543611cec9915811a77b3fccc657f1467c696291934","sha256:057fe0a53a224c9f68681f0acee2a40420cda2dd9396f6edff32656d91e6fcd0"],"state_sha256":"337ddb52f4f909a9f3e117b8a33fba6dc26124cf38bd7a71b5b0bb6b2a8f1e8e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tzUbL65auebuc2UYx5V8pwK8QdEmG21gRArwF96mdctQ0dsaqMKy2wq0jS3voDphuhsA1uu0Sq5OMjuMT1eNDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-03T18:30:46.524038Z","bundle_sha256":"432da88fa75edcdb779a18c515a17ee52955ef7589fbee2a1685796a45da2db2"}}