{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:X6ZJYV26FH4N3R67GI3V2CQJNZ","short_pith_number":"pith:X6ZJYV26","canonical_record":{"source":{"id":"2310.19511","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T13:10:05Z","cross_cats_sorted":[],"title_canon_sha256":"8312321e74e3d3ff6f493c0f48f6c28715a6821aeccc581682a5f43e8940eaf1","abstract_canon_sha256":"d5b1211c8b03bc4452d58b46c85143fd5fb8b0fec310118a01fb8122731665c9"},"schema_version":"1.0"},"canonical_sha256":"bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26","source":{"kind":"arxiv","id":"2310.19511","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.19511","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"arxiv_version","alias_value":"2310.19511v3","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.19511","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_12","alias_value":"X6ZJYV26FH4N","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_16","alias_value":"X6ZJYV26FH4N3R67","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_8","alias_value":"X6ZJYV26","created_at":"2026-07-05T10:58:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:X6ZJYV26FH4N3R67GI3V2CQJNZ","target":"record","payload":{"canonical_record":{"source":{"id":"2310.19511","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T13:10:05Z","cross_cats_sorted":[],"title_canon_sha256":"8312321e74e3d3ff6f493c0f48f6c28715a6821aeccc581682a5f43e8940eaf1","abstract_canon_sha256":"d5b1211c8b03bc4452d58b46c85143fd5fb8b0fec310118a01fb8122731665c9"},"schema_version":"1.0"},"canonical_sha256":"bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:58:58.373312Z","signature_b64":"+//0mcE6mdq7VyH6/Ja7OoeXDo1Fvx6EuPAfV2OaPpH9fOTq94zxLpke3MrFOBodcVQHRdVWmuDMnXQW1iNTCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26","last_reissued_at":"2026-07-05T10:58:58.372894Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:58:58.372894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2310.19511","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":"2026-07-05T10:58:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wGk42mwAsBdf/3T/Qkz1wkMjEzXmzHLncDzwbNnvbrtF6ihbtYqiU2jvQYNCHIHr2XLwxhLNjMmmiFE5Nng+Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:15:57.954475Z"},"content_sha256":"50278c63218de9d7a7c690ec35debc452680590405855198cf5a637f8bd73ca0","schema_version":"1.0","event_id":"sha256:50278c63218de9d7a7c690ec35debc452680590405855198cf5a637f8bd73ca0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:X6ZJYV26FH4N3R67GI3V2CQJNZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alvaro Serra-Gomez, Javier Alonso-Mora, Laura Ferranti, Lorenzo Lyons, Manuel Boldrer, Vit Kratky","submitted_at":"2023-10-30T13:10:05Z","abstract_excerpt":"This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic constraints effectively. Our contribution is twofold. First, we show how RBL is able to provide safety and convergence to the goal region without relying on communication between robots, nor synchronization between the robots. We considered different dynamic constraints with control inputs saturation. Second, we show that the Lloyd-based algorithm (without rules) can"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.19511","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/2310.19511/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":"2026-07-05T10:58:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QVPd2cprxmf/aPb4bZOWnED0TJXimLRb6fBpJnrEZ90jK53ZnZFhZ95S8Ux2TjLtxK5mg5VVeBn3dvdartSgBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T16:15:57.955164Z"},"content_sha256":"b03a98da92828107de6bd7cdf7a66b5f0166f0c6246d503ad078944293e75431","schema_version":"1.0","event_id":"sha256:b03a98da92828107de6bd7cdf7a66b5f0166f0c6246d503ad078944293e75431"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/bundle.json","state_url":"https://pith.science/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/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":"2026-08-03T16:15:57Z","links":{"resolver":"https://pith.science/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ","bundle":"https://pith.science/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/bundle.json","state":"https://pith.science/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/X6ZJYV26FH4N3R67GI3V2CQJNZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:X6ZJYV26FH4N3R67GI3V2CQJNZ","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":"d5b1211c8b03bc4452d58b46c85143fd5fb8b0fec310118a01fb8122731665c9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T13:10:05Z","title_canon_sha256":"8312321e74e3d3ff6f493c0f48f6c28715a6821aeccc581682a5f43e8940eaf1"},"schema_version":"1.0","source":{"id":"2310.19511","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2310.19511","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"arxiv_version","alias_value":"2310.19511v3","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2310.19511","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_12","alias_value":"X6ZJYV26FH4N","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_16","alias_value":"X6ZJYV26FH4N3R67","created_at":"2026-07-05T10:58:58Z"},{"alias_kind":"pith_short_8","alias_value":"X6ZJYV26","created_at":"2026-07-05T10:58:58Z"}],"graph_snapshots":[{"event_id":"sha256:b03a98da92828107de6bd7cdf7a66b5f0166f0c6246d503ad078944293e75431","target":"graph","created_at":"2026-07-05T10:58:58Z","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/2310.19511/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic constraints effectively. Our contribution is twofold. First, we show how RBL is able to provide safety and convergence to the goal region without relying on communication between robots, nor synchronization between the robots. We considered different dynamic constraints with control inputs saturation. Second, we show that the Lloyd-based algorithm (without rules) can","authors_text":"Alvaro Serra-Gomez, Javier Alonso-Mora, Laura Ferranti, Lorenzo Lyons, Manuel Boldrer, Vit Kratky","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T13:10:05Z","title":"Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.19511","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":"sha256:50278c63218de9d7a7c690ec35debc452680590405855198cf5a637f8bd73ca0","target":"record","created_at":"2026-07-05T10:58:58Z","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":"d5b1211c8b03bc4452d58b46c85143fd5fb8b0fec310118a01fb8122731665c9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-10-30T13:10:05Z","title_canon_sha256":"8312321e74e3d3ff6f493c0f48f6c28715a6821aeccc581682a5f43e8940eaf1"},"schema_version":"1.0","source":{"id":"2310.19511","kind":"arxiv","version":3}},"canonical_sha256":"bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26","first_computed_at":"2026-07-05T10:58:58.372894Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:58:58.372894Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+//0mcE6mdq7VyH6/Ja7OoeXDo1Fvx6EuPAfV2OaPpH9fOTq94zxLpke3MrFOBodcVQHRdVWmuDMnXQW1iNTCg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:58:58.373312Z","signed_message":"canonical_sha256_bytes"},"source_id":"2310.19511","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:50278c63218de9d7a7c690ec35debc452680590405855198cf5a637f8bd73ca0","sha256:b03a98da92828107de6bd7cdf7a66b5f0166f0c6246d503ad078944293e75431"],"state_sha256":"39ab302bb9462a232dfbdb415bdf19c73b30c3ae13297426b8769cb613caa0ec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l6Wybfrapl/LGGykvl6H5SNfpUKXvRsFW/fLvTD86P9xWL5riPXZZKwm5eCqYDiFlfRWbBG5u7OdgUvrN79lCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T16:15:57.960494Z","bundle_sha256":"7260f96f4c108a558621285a2b3e14c96461da109b32b548d85c6bd34bca0a77"}}