{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:UWQHX6JDKPGMGG7FPKT47KYOPW","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":"cfe5d6823639d49dbfa6ce08261c996d2984adbe93c80abf0a1d13c25ef2b50d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-28T23:11:10Z","title_canon_sha256":"f8e9f6af80af2e575370b0a4624cee3f77e2bf094907e1d7f47450a8cb82ce78"},"schema_version":"1.0","source":{"id":"2111.14268","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.14268","created_at":"2026-07-05T03:35:40Z"},{"alias_kind":"arxiv_version","alias_value":"2111.14268v1","created_at":"2026-07-05T03:35:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.14268","created_at":"2026-07-05T03:35:40Z"},{"alias_kind":"pith_short_12","alias_value":"UWQHX6JDKPGM","created_at":"2026-07-05T03:35:40Z"},{"alias_kind":"pith_short_16","alias_value":"UWQHX6JDKPGMGG7F","created_at":"2026-07-05T03:35:40Z"},{"alias_kind":"pith_short_8","alias_value":"UWQHX6JD","created_at":"2026-07-05T03:35:40Z"}],"graph_snapshots":[{"event_id":"sha256:6dca61eaf480420c1caf443aed3fd9c84491cf121bfbb70d29f38c0f06cc98d6","target":"graph","created_at":"2026-07-05T03:35:40Z","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/2111.14268/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP) methods in the literature adopt de-coupled approaches that sacrifice either optimality or dynamic feasibility. In this paper, we present a convexification method, namely \"parabolic relaxation\", to generate optimal and dynamically feasible trajectories for MRMP in the coupled joint-space of all robots. We leverage upon the proposed relaxation to tackle the prob","authors_text":"Amir Rahmani, Changrak Choi, Muhammad Adil, Ramtin Madani","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-28T23:11:10Z","title":"Optimal Multi-Robot Motion Planning via Parabolic Relaxation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.14268","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:fe1608e62bbaa79d3e7371c7558a96030cc88a5f297dd32fa9823c26ab2a2dfe","target":"record","created_at":"2026-07-05T03:35:40Z","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":"cfe5d6823639d49dbfa6ce08261c996d2984adbe93c80abf0a1d13c25ef2b50d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-28T23:11:10Z","title_canon_sha256":"f8e9f6af80af2e575370b0a4624cee3f77e2bf094907e1d7f47450a8cb82ce78"},"schema_version":"1.0","source":{"id":"2111.14268","kind":"arxiv","version":1}},"canonical_sha256":"a5a07bf92353ccc31be57aa7cfab0e7d81ca40314c74708f988508bda6eef985","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5a07bf92353ccc31be57aa7cfab0e7d81ca40314c74708f988508bda6eef985","first_computed_at":"2026-07-05T03:35:40.976540Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:35:40.976540Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MGDtcds8PbHC2UUMuEzLfF0AW9znpOieajv8u+AH21QMzBwCtDEDbb3rX54PukjyB9YkGE4w6tQmi2jtvav9Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:35:40.976954Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.14268","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe1608e62bbaa79d3e7371c7558a96030cc88a5f297dd32fa9823c26ab2a2dfe","sha256:6dca61eaf480420c1caf443aed3fd9c84491cf121bfbb70d29f38c0f06cc98d6"],"state_sha256":"8e99fcfdaaad21198049c821f4c7fc1b732a76390acdff08eab01292215eeb2d"}