Pith Number

pith:WQY5XFOU

pith:2026:WQY5XFOU7TYOF4PX5ZU6H45T2D

not attested not anchored not stored refs pending

Federated Single-Agent Robotics: Multi-Robot Coordination Without Intra-Robot Multi-Agent Fragmentation

Cong Yang, John See, Simin Luan, Xue Qin, Zhijun Li

Multi-robot coordination succeeds without fragmenting each robot into multiple internal agents.

arxiv:2604.11028 v2 · 2026-04-13 · cs.RO · cs.AI

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\usepackage{pith}
\pithnumber{WQY5XFOU7TYOF4PX5ZU6H45T2D}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We argue for a different principle: multi-robot coordination does not require intra-robot multi-agent fragmentation. ... Results show statistically significant gains in governance locality (d=2.91, p<.001 vs. centralized control) and recovery containment (d=4.88, p<.001 vs. decomposition-heavy), while reducing authority conflicts and policy violations across all scenarios.

C2weakest assumption

That the representative multi-robot coordination scenarios used in evaluation accurately reflect real-world fleet operations and that the decomposition-heavy baselines were implemented without bias that would favor the proposed federation approach.

C3one line summary

Multi-robot coordination is achieved by federating single-agent robot runtimes at the fleet level instead of fragmenting each robot into multiple internal agents.

Receipt and verification

First computed	2026-05-22T01:04:01.973040Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b431db95d4fcf0e2f1f7ee69e3f3b3d0ecbf591460ba6a80d57e096ac2ee2906

Aliases

arxiv: 2604.11028 · arxiv_version: 2604.11028v2 · doi: 10.48550/arxiv.2604.11028 · pith_short_12: WQY5XFOU7TYO · pith_short_16: WQY5XFOU7TYOF4PX · pith_short_8: WQY5XFOU

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/WQY5XFOU7TYOF4PX5ZU6H45T2D \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b431db95d4fcf0e2f1f7ee69e3f3b3d0ecbf591460ba6a80d57e096ac2ee2906

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "21c1be4c67cf0134f16d60256a282b4384bd41b4d20b0bf7a92053e2111aa46a",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-13T05:51:13Z",
    "title_canon_sha256": "5d52f59acdf38bd2262ad45461bcd684f594308b1a230197b6f85a4067afc31c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.11028",
    "kind": "arxiv",
    "version": 2
  }
}