{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WSMMVZVKBFGBZ7VEMIW5L4S6ZW","short_pith_number":"pith:WSMMVZVK","canonical_record":{"source":{"id":"2410.12651","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T15:15:00Z","cross_cats_sorted":[],"title_canon_sha256":"c5a597d2fa37a5381c839aa2f83b7f7b81534e81a069198dd0539f56c498d02b","abstract_canon_sha256":"9b825d64b1acf0f6dc72a574d32d9b240014d66cb26437a573593d4b4fcc19c0"},"schema_version":"1.0"},"canonical_sha256":"b498cae6aa094c1cfea4622dd5f25ecda6c7de068833e1cccb20491984df40fd","source":{"kind":"arxiv","id":"2410.12651","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.12651","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"arxiv_version","alias_value":"2410.12651v1","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.12651","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_12","alias_value":"WSMMVZVKBFGB","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_16","alias_value":"WSMMVZVKBFGBZ7VE","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_8","alias_value":"WSMMVZVK","created_at":"2026-07-05T09:21:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WSMMVZVKBFGBZ7VEMIW5L4S6ZW","target":"record","payload":{"canonical_record":{"source":{"id":"2410.12651","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T15:15:00Z","cross_cats_sorted":[],"title_canon_sha256":"c5a597d2fa37a5381c839aa2f83b7f7b81534e81a069198dd0539f56c498d02b","abstract_canon_sha256":"9b825d64b1acf0f6dc72a574d32d9b240014d66cb26437a573593d4b4fcc19c0"},"schema_version":"1.0"},"canonical_sha256":"b498cae6aa094c1cfea4622dd5f25ecda6c7de068833e1cccb20491984df40fd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:21:32.165477Z","signature_b64":"sRGFHkOch6KZ9LOcMPP96+qZK0TiS5tJ3j0cmHC5PxA5xNrpTohQCNbZfRaxotHO8mP0d2TDQzQm9As92yYLCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b498cae6aa094c1cfea4622dd5f25ecda6c7de068833e1cccb20491984df40fd","last_reissued_at":"2026-07-05T09:21:32.164952Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:21:32.164952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.12651","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":"2026-07-05T09:21:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dkc2u8PTJQgZKGXO9v65WB/fiq7p2GZG/qC++rKshHDLPu8wSmps6Qo9wV9P+Hzm7v5EyBwnt2HN11wUB904DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T17:21:36.763115Z"},"content_sha256":"fba7c04ab3d712d30bbab27d81bbd433a3cf7815fdbd82fe34baf6f05bf760d8","schema_version":"1.0","event_id":"sha256:fba7c04ab3d712d30bbab27d81bbd433a3cf7815fdbd82fe34baf6f05bf760d8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WSMMVZVKBFGBZ7VEMIW5L4S6ZW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cesar Lopez Martinez, Elena Torta, Herman Bruyninckx, Koen de Vos, Rene van de Molengraft","submitted_at":"2024-10-16T15:15:00Z","abstract_excerpt":"This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating access to areas within the environment, and a Model Predictive Controller for generating motion trajectories that respect environmental and coordination constraints. The main advantages of this approach include: (i) enforcing area occupancy constraints derived from specific task requirements; (ii) enhancing computational scalability by eliminating the need "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.12651","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/2410.12651/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":"2026-07-05T09:21:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5T5f2+fvAGKtESKqFeWGyjGjZGBbb7oO2umdVX8W7vZo2XdqPiy4xTNBJrj/S6RSMyhdU1e0ycRAI/uxHMMUCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-31T17:21:36.763705Z"},"content_sha256":"62250f30c9f7c385b4a6a66eaa9124436b0ae6896a5fa0575e6d1b841a983d43","schema_version":"1.0","event_id":"sha256:62250f30c9f7c385b4a6a66eaa9124436b0ae6896a5fa0575e6d1b841a983d43"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/bundle.json","state_url":"https://pith.science/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/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":"2026-07-31T17:21:36Z","links":{"resolver":"https://pith.science/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW","bundle":"https://pith.science/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/bundle.json","state":"https://pith.science/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WSMMVZVKBFGBZ7VEMIW5L4S6ZW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WSMMVZVKBFGBZ7VEMIW5L4S6ZW","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":"9b825d64b1acf0f6dc72a574d32d9b240014d66cb26437a573593d4b4fcc19c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T15:15:00Z","title_canon_sha256":"c5a597d2fa37a5381c839aa2f83b7f7b81534e81a069198dd0539f56c498d02b"},"schema_version":"1.0","source":{"id":"2410.12651","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.12651","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"arxiv_version","alias_value":"2410.12651v1","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.12651","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_12","alias_value":"WSMMVZVKBFGB","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_16","alias_value":"WSMMVZVKBFGBZ7VE","created_at":"2026-07-05T09:21:32Z"},{"alias_kind":"pith_short_8","alias_value":"WSMMVZVK","created_at":"2026-07-05T09:21:32Z"}],"graph_snapshots":[{"event_id":"sha256:62250f30c9f7c385b4a6a66eaa9124436b0ae6896a5fa0575e6d1b841a983d43","target":"graph","created_at":"2026-07-05T09:21:32Z","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/2410.12651/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating access to areas within the environment, and a Model Predictive Controller for generating motion trajectories that respect environmental and coordination constraints. The main advantages of this approach include: (i) enforcing area occupancy constraints derived from specific task requirements; (ii) enhancing computational scalability by eliminating the need ","authors_text":"Cesar Lopez Martinez, Elena Torta, Herman Bruyninckx, Koen de Vos, Rene van de Molengraft","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T15:15:00Z","title":"Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.12651","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:fba7c04ab3d712d30bbab27d81bbd433a3cf7815fdbd82fe34baf6f05bf760d8","target":"record","created_at":"2026-07-05T09:21:32Z","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":"9b825d64b1acf0f6dc72a574d32d9b240014d66cb26437a573593d4b4fcc19c0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-16T15:15:00Z","title_canon_sha256":"c5a597d2fa37a5381c839aa2f83b7f7b81534e81a069198dd0539f56c498d02b"},"schema_version":"1.0","source":{"id":"2410.12651","kind":"arxiv","version":1}},"canonical_sha256":"b498cae6aa094c1cfea4622dd5f25ecda6c7de068833e1cccb20491984df40fd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b498cae6aa094c1cfea4622dd5f25ecda6c7de068833e1cccb20491984df40fd","first_computed_at":"2026-07-05T09:21:32.164952Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:21:32.164952Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sRGFHkOch6KZ9LOcMPP96+qZK0TiS5tJ3j0cmHC5PxA5xNrpTohQCNbZfRaxotHO8mP0d2TDQzQm9As92yYLCA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:21:32.165477Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.12651","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fba7c04ab3d712d30bbab27d81bbd433a3cf7815fdbd82fe34baf6f05bf760d8","sha256:62250f30c9f7c385b4a6a66eaa9124436b0ae6896a5fa0575e6d1b841a983d43"],"state_sha256":"010df9121ff4d32f537a10ddea2b441d32b737b13c4109c2fe15a41eccba9c99"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TwRy9jGE4qj3XhTKiAfVrOhICBVE76orjHS7ZUitMK7Bj/sTm2SAAVxzL/sOfFsa199MnopfREAKJEuIex95Aw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-31T17:21:36.768945Z","bundle_sha256":"09c1f0465663c902b556f8bf716e2fb53c5d8c84e831c9f444034f2014399fed"}}