{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:UPAGHQAJRDJOPPXPSIZ4EHR36I","short_pith_number":"pith:UPAGHQAJ","canonical_record":{"source":{"id":"2206.01833","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T21:47:41Z","cross_cats_sorted":["cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"a8f0286c4d0affea7ce54a6e8205a3316265fc530c0d3c8273af1ac572c67c9a","abstract_canon_sha256":"ea95dd381d4f44bc894115a6d2218fc3fa608269e99aeecea2159f1cd93b988b"},"schema_version":"1.0"},"canonical_sha256":"a3c063c00988d2e7beef9233c21e3bf2204f6efbaf09e73b97dff682167bf86e","source":{"kind":"arxiv","id":"2206.01833","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.01833","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"arxiv_version","alias_value":"2206.01833v3","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.01833","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_12","alias_value":"UPAGHQAJRDJO","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_16","alias_value":"UPAGHQAJRDJOPPXP","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_8","alias_value":"UPAGHQAJ","created_at":"2026-07-05T04:53:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:UPAGHQAJRDJOPPXPSIZ4EHR36I","target":"record","payload":{"canonical_record":{"source":{"id":"2206.01833","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T21:47:41Z","cross_cats_sorted":["cs.MA","cs.SY","eess.SY"],"title_canon_sha256":"a8f0286c4d0affea7ce54a6e8205a3316265fc530c0d3c8273af1ac572c67c9a","abstract_canon_sha256":"ea95dd381d4f44bc894115a6d2218fc3fa608269e99aeecea2159f1cd93b988b"},"schema_version":"1.0"},"canonical_sha256":"a3c063c00988d2e7beef9233c21e3bf2204f6efbaf09e73b97dff682167bf86e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:53:42.642227Z","signature_b64":"/sZDEGZYzaIGus3ilA2eXUFy/hJJWAiKYImVWU+icUm3Wiw/bVP2/uPTLNxTRARaPzlOd5Ay1wpixJrUSqNCDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a3c063c00988d2e7beef9233c21e3bf2204f6efbaf09e73b97dff682167bf86e","last_reissued_at":"2026-07-05T04:53:42.641690Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:53:42.641690Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2206.01833","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:53:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7bz0z1EQH5q44RdiXmOJEcfs0AmvPVp5SEd+IwDxjdQNYg9BBXtLr9U0uM0WmgkSCWBS1TySciN2tzlSt5C5Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T07:14:31.775300Z"},"content_sha256":"0c69aa82a885465ad03d92c4acdd52f901b4d2b143f47911ba93a883e4260a74","schema_version":"1.0","event_id":"sha256:0c69aa82a885465ad03d92c4acdd52f901b4d2b143f47911ba93a883e4260a74"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:UPAGHQAJRDJOPPXPSIZ4EHR36I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Jonas Warnke, Michael Enqi Cao, Samuel Coogan, Xinpei Ni, Ye Zhao, Yunhai Han","submitted_at":"2022-06-03T21:47:41Z","abstract_excerpt":"In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built upon temporal-logic-based reactive synthesis to guarantee safety and task completion under specific environment assumptions. In heterogeneous multi-agent systems, every agent is expected to complete its own tasks in service of a global team objective. However, at runtime, an agent may encounter un-modeled obstacles (e.g., doors or walls) that prevent it from a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.01833","kind":"arxiv","version":3},"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/2206.01833/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":"2026-07-05T04:53:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0UdR9HjtmgVbWDwe+qXmyLcS/G9CD7QYScR0BmrSRjPJRKY0PFv6zhg02J2/gn3P8Ejz8eUj7UmdPmQDV92KDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T07:14:31.775690Z"},"content_sha256":"5a1dfc3a28fb4b1fbc1aeada1c3380d28e3ae5c077a318c9c72b428bd3249436","schema_version":"1.0","event_id":"sha256:5a1dfc3a28fb4b1fbc1aeada1c3380d28e3ae5c077a318c9c72b428bd3249436"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/bundle.json","state_url":"https://pith.science/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/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":"2026-07-08T07:14:31Z","links":{"resolver":"https://pith.science/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I","bundle":"https://pith.science/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/bundle.json","state":"https://pith.science/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UPAGHQAJRDJOPPXPSIZ4EHR36I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:UPAGHQAJRDJOPPXPSIZ4EHR36I","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":"ea95dd381d4f44bc894115a6d2218fc3fa608269e99aeecea2159f1cd93b988b","cross_cats_sorted":["cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T21:47:41Z","title_canon_sha256":"a8f0286c4d0affea7ce54a6e8205a3316265fc530c0d3c8273af1ac572c67c9a"},"schema_version":"1.0","source":{"id":"2206.01833","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.01833","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"arxiv_version","alias_value":"2206.01833v3","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.01833","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_12","alias_value":"UPAGHQAJRDJO","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_16","alias_value":"UPAGHQAJRDJOPPXP","created_at":"2026-07-05T04:53:42Z"},{"alias_kind":"pith_short_8","alias_value":"UPAGHQAJ","created_at":"2026-07-05T04:53:42Z"}],"graph_snapshots":[{"event_id":"sha256:5a1dfc3a28fb4b1fbc1aeada1c3380d28e3ae5c077a318c9c72b428bd3249436","target":"graph","created_at":"2026-07-05T04:53:42Z","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/2206.01833/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built upon temporal-logic-based reactive synthesis to guarantee safety and task completion under specific environment assumptions. In heterogeneous multi-agent systems, every agent is expected to complete its own tasks in service of a global team objective. However, at runtime, an agent may encounter un-modeled obstacles (e.g., doors or walls) that prevent it from a","authors_text":"Jonas Warnke, Michael Enqi Cao, Samuel Coogan, Xinpei Ni, Ye Zhao, Yunhai Han","cross_cats":["cs.MA","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T21:47:41Z","title":"Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.01833","kind":"arxiv","version":3},"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":"sha256:0c69aa82a885465ad03d92c4acdd52f901b4d2b143f47911ba93a883e4260a74","target":"record","created_at":"2026-07-05T04:53:42Z","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":"ea95dd381d4f44bc894115a6d2218fc3fa608269e99aeecea2159f1cd93b988b","cross_cats_sorted":["cs.MA","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-06-03T21:47:41Z","title_canon_sha256":"a8f0286c4d0affea7ce54a6e8205a3316265fc530c0d3c8273af1ac572c67c9a"},"schema_version":"1.0","source":{"id":"2206.01833","kind":"arxiv","version":3}},"canonical_sha256":"a3c063c00988d2e7beef9233c21e3bf2204f6efbaf09e73b97dff682167bf86e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a3c063c00988d2e7beef9233c21e3bf2204f6efbaf09e73b97dff682167bf86e","first_computed_at":"2026-07-05T04:53:42.641690Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:53:42.641690Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/sZDEGZYzaIGus3ilA2eXUFy/hJJWAiKYImVWU+icUm3Wiw/bVP2/uPTLNxTRARaPzlOd5Ay1wpixJrUSqNCDw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:53:42.642227Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.01833","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0c69aa82a885465ad03d92c4acdd52f901b4d2b143f47911ba93a883e4260a74","sha256:5a1dfc3a28fb4b1fbc1aeada1c3380d28e3ae5c077a318c9c72b428bd3249436"],"state_sha256":"4d47fb9156ec87a4b1136a0c7a7702f3411de6b14ae59af5444d264e0798bd18"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oWIu+eWuoMjDs470+ScLyL59tLADfqMu3Vk/JkihEpEmAV8j/x/BZWDRLJ8OLBUziqspAADfqIb6+mknfSU0DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T07:14:31.778161Z","bundle_sha256":"fe7fce78f0165dddc89fcb9dbb28e2920ae93f8bddf10138a7973f43b5860741"}}