{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:UXZZ7ICGPMG4A73AD6YCYP3I7L","short_pith_number":"pith:UXZZ7ICG","canonical_record":{"source":{"id":"2210.14036","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-25T14:13:35Z","cross_cats_sorted":[],"title_canon_sha256":"50111c14841d9aa36a485f9bb8ad24597581a2968a10dfb16a95df90aef96379","abstract_canon_sha256":"75d589b25d9b3a40ef058e8c8a6a02b4e876d3721d186c1d2deea5df3de51213"},"schema_version":"1.0"},"canonical_sha256":"a5f39fa0467b0dc07f601fb02c3f68fad8718d49fbbed879fb00f8e25fce4fc7","source":{"kind":"arxiv","id":"2210.14036","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.14036","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"arxiv_version","alias_value":"2210.14036v1","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.14036","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_12","alias_value":"UXZZ7ICGPMG4","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_16","alias_value":"UXZZ7ICGPMG4A73A","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_8","alias_value":"UXZZ7ICG","created_at":"2026-07-05T05:10:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:UXZZ7ICGPMG4A73AD6YCYP3I7L","target":"record","payload":{"canonical_record":{"source":{"id":"2210.14036","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-25T14:13:35Z","cross_cats_sorted":[],"title_canon_sha256":"50111c14841d9aa36a485f9bb8ad24597581a2968a10dfb16a95df90aef96379","abstract_canon_sha256":"75d589b25d9b3a40ef058e8c8a6a02b4e876d3721d186c1d2deea5df3de51213"},"schema_version":"1.0"},"canonical_sha256":"a5f39fa0467b0dc07f601fb02c3f68fad8718d49fbbed879fb00f8e25fce4fc7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:10:25.773137Z","signature_b64":"PVGBILsBxZHc6Yrqe3+v9/U+Bn3EWRxt7A70eXfv04mGWcP0fztTsbljKgtpE+mmhCgpz4toyKde41TA7wyNBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a5f39fa0467b0dc07f601fb02c3f68fad8718d49fbbed879fb00f8e25fce4fc7","last_reissued_at":"2026-07-05T05:10:25.772683Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:10:25.772683Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.14036","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":"2026-07-05T05:10:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cIX5pH3XYYA4l82eRJmC5pDchkknRGUtS76II+qTUTuZBTOHx1rvb8RyYRuZ1Hoe8HMTJJL+aP+qHvyNoAHUAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T23:09:58.557989Z"},"content_sha256":"8eeaa2fed1db15132c4001ff5caaae3d6e45dcff619a7fe3c638eecd2661cf77","schema_version":"1.0","event_id":"sha256:8eeaa2fed1db15132c4001ff5caaae3d6e45dcff619a7fe3c638eecd2661cf77"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:UXZZ7ICGPMG4A73AD6YCYP3I7L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Task Allocation Framework for Human Multi-Robot Collaborative Settings","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alessandro Marino, Martina Lippi, Paolo Di Lillo","submitted_at":"2022-10-25T14:13:35Z","abstract_excerpt":"The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the question of how to effectively handle these teams considering the different characteristics of the involved agents. For this reason, this paper presents a framework for task allocation in a human multi-robot collaborative scenario. The proposed solution combines an optimal offline allocation with an online reallocation strategy which accounts for inaccuracies of th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.14036","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/2210.14036/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":"2026-07-05T05:10:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xhHXhavY1m292xW76gt4Yql32/FeLQivAf28DBsb8uCFLkYfXiEtwv8VULIABFyzML1jEalZKBJYEAOc84EVCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-13T23:09:58.558503Z"},"content_sha256":"94249488ebe72c57bbb779b8666dcce6e1403a8a1bc0035c797c3b8dfde776f8","schema_version":"1.0","event_id":"sha256:94249488ebe72c57bbb779b8666dcce6e1403a8a1bc0035c797c3b8dfde776f8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/bundle.json","state_url":"https://pith.science/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/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":"2026-08-13T23:09:58Z","links":{"resolver":"https://pith.science/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L","bundle":"https://pith.science/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/bundle.json","state":"https://pith.science/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UXZZ7ICGPMG4A73AD6YCYP3I7L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:UXZZ7ICGPMG4A73AD6YCYP3I7L","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":"75d589b25d9b3a40ef058e8c8a6a02b4e876d3721d186c1d2deea5df3de51213","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-25T14:13:35Z","title_canon_sha256":"50111c14841d9aa36a485f9bb8ad24597581a2968a10dfb16a95df90aef96379"},"schema_version":"1.0","source":{"id":"2210.14036","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.14036","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"arxiv_version","alias_value":"2210.14036v1","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.14036","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_12","alias_value":"UXZZ7ICGPMG4","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_16","alias_value":"UXZZ7ICGPMG4A73A","created_at":"2026-07-05T05:10:25Z"},{"alias_kind":"pith_short_8","alias_value":"UXZZ7ICG","created_at":"2026-07-05T05:10:25Z"}],"graph_snapshots":[{"event_id":"sha256:94249488ebe72c57bbb779b8666dcce6e1403a8a1bc0035c797c3b8dfde776f8","target":"graph","created_at":"2026-07-05T05:10:25Z","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/2210.14036/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the question of how to effectively handle these teams considering the different characteristics of the involved agents. For this reason, this paper presents a framework for task allocation in a human multi-robot collaborative scenario. The proposed solution combines an optimal offline allocation with an online reallocation strategy which accounts for inaccuracies of th","authors_text":"Alessandro Marino, Martina Lippi, Paolo Di Lillo","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-25T14:13:35Z","title":"A Task Allocation Framework for Human Multi-Robot Collaborative Settings"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.14036","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":"sha256:8eeaa2fed1db15132c4001ff5caaae3d6e45dcff619a7fe3c638eecd2661cf77","target":"record","created_at":"2026-07-05T05:10:25Z","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":"75d589b25d9b3a40ef058e8c8a6a02b4e876d3721d186c1d2deea5df3de51213","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-10-25T14:13:35Z","title_canon_sha256":"50111c14841d9aa36a485f9bb8ad24597581a2968a10dfb16a95df90aef96379"},"schema_version":"1.0","source":{"id":"2210.14036","kind":"arxiv","version":1}},"canonical_sha256":"a5f39fa0467b0dc07f601fb02c3f68fad8718d49fbbed879fb00f8e25fce4fc7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5f39fa0467b0dc07f601fb02c3f68fad8718d49fbbed879fb00f8e25fce4fc7","first_computed_at":"2026-07-05T05:10:25.772683Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:10:25.772683Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PVGBILsBxZHc6Yrqe3+v9/U+Bn3EWRxt7A70eXfv04mGWcP0fztTsbljKgtpE+mmhCgpz4toyKde41TA7wyNBg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:10:25.773137Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.14036","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8eeaa2fed1db15132c4001ff5caaae3d6e45dcff619a7fe3c638eecd2661cf77","sha256:94249488ebe72c57bbb779b8666dcce6e1403a8a1bc0035c797c3b8dfde776f8"],"state_sha256":"8dcaa0eccec020fb070ec31b34d6bbd6bf863cb56fba81173b201a1112fb51a3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G64wDxqW6ouhM9NWW98DeGqIKT9eKNgUUfTosgCySDuCcXeohi/IhQV3vg7iuyyWDSG5fH1eG7NpUVbaWo6zCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-13T23:09:58.571904Z","bundle_sha256":"5d58798a0647f6fc3b52c4bda759e9cae87c6c390f0f26f42be83b0a08368bfd"}}