{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2011:YHFUAXTSYZYQCDCJZV7SWTHPST","short_pith_number":"pith:YHFUAXTS","canonical_record":{"source":{"id":"1108.3240","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-08-16T13:47:00Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"deec214ae43ed2897837e9d7507f7d981a6ba060dfcaa775c8f0fac8bf6e5ff1","abstract_canon_sha256":"230a07a011968e9d89293ed333453ceb791eb46ceb364e0368a07f6dcef92151"},"schema_version":"1.0"},"canonical_sha256":"c1cb405e72c671010c49cd7f2b4cef94e7650893e0983ba2af157bc6330de7b5","source":{"kind":"arxiv","id":"1108.3240","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1108.3240","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"arxiv_version","alias_value":"1108.3240v1","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1108.3240","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"pith_short_12","alias_value":"YHFUAXTSYZYQ","created_at":"2026-05-18T12:26:47Z"},{"alias_kind":"pith_short_16","alias_value":"YHFUAXTSYZYQCDCJ","created_at":"2026-05-18T12:26:47Z"},{"alias_kind":"pith_short_8","alias_value":"YHFUAXTS","created_at":"2026-05-18T12:26:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2011:YHFUAXTSYZYQCDCJZV7SWTHPST","target":"record","payload":{"canonical_record":{"source":{"id":"1108.3240","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-08-16T13:47:00Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"deec214ae43ed2897837e9d7507f7d981a6ba060dfcaa775c8f0fac8bf6e5ff1","abstract_canon_sha256":"230a07a011968e9d89293ed333453ceb791eb46ceb364e0368a07f6dcef92151"},"schema_version":"1.0"},"canonical_sha256":"c1cb405e72c671010c49cd7f2b4cef94e7650893e0983ba2af157bc6330de7b5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:15:27.713455Z","signature_b64":"Cejz+VaM7McthoGmAqKcxoYYjUXG7xydofE02Q7otVa3ifUgtnqhdqPCndqzwrS1Zq61x9SSalej2euW8vdHBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c1cb405e72c671010c49cd7f2b4cef94e7650893e0983ba2af157bc6330de7b5","last_reissued_at":"2026-05-18T04:15:27.713041Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:15:27.713041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1108.3240","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":"2026-05-18T04:15:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9w/53ke0m34zoi6n7tHdH8YVkxnVxKAhueuwxRir2ErYAmtFnd3gy5zUD+PJo7rrqxdjidx2KyvCD8SKsTg+BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T20:09:54.915907Z"},"content_sha256":"6ccee1ab92f7596c2637efd798eaf217d8ce037c049a4dbc60630b62a2227e87","schema_version":"1.0","event_id":"sha256:6ccee1ab92f7596c2637efd798eaf217d8ce037c049a4dbc60630b62a2227e87"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2011:YHFUAXTSYZYQCDCJZV7SWTHPST","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-robot Deployment From LTL Specifications with Reduced Communication","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","math.OC"],"primary_cat":"cs.RO","authors_text":"Calin Belta, Marius Kloetzer, Xu Chu Ding","submitted_at":"2011-08-16T13:47:00Z","abstract_excerpt":"In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team; (iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1108.3240","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":""},"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":"2026-05-18T04:15:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kCzglHuo+UIHCGWx1OQqtMkny390h3Z+9Nf+4xmxuwMSJGUQVz8/EYtD5LDwqajSWRgDoajUVXCadKGbJL/3DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T20:09:54.916501Z"},"content_sha256":"f454ce0ed7124aa56f6387e1b1c691eeec9403189af1b34b3787daf7a2770bec","schema_version":"1.0","event_id":"sha256:f454ce0ed7124aa56f6387e1b1c691eeec9403189af1b34b3787daf7a2770bec"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/bundle.json","state_url":"https://pith.science/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/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":"2026-05-27T20:09:54Z","links":{"resolver":"https://pith.science/pith/YHFUAXTSYZYQCDCJZV7SWTHPST","bundle":"https://pith.science/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/bundle.json","state":"https://pith.science/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YHFUAXTSYZYQCDCJZV7SWTHPST/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2011:YHFUAXTSYZYQCDCJZV7SWTHPST","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":"230a07a011968e9d89293ed333453ceb791eb46ceb364e0368a07f6dcef92151","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-08-16T13:47:00Z","title_canon_sha256":"deec214ae43ed2897837e9d7507f7d981a6ba060dfcaa775c8f0fac8bf6e5ff1"},"schema_version":"1.0","source":{"id":"1108.3240","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1108.3240","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"arxiv_version","alias_value":"1108.3240v1","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1108.3240","created_at":"2026-05-18T04:15:27Z"},{"alias_kind":"pith_short_12","alias_value":"YHFUAXTSYZYQ","created_at":"2026-05-18T12:26:47Z"},{"alias_kind":"pith_short_16","alias_value":"YHFUAXTSYZYQCDCJ","created_at":"2026-05-18T12:26:47Z"},{"alias_kind":"pith_short_8","alias_value":"YHFUAXTS","created_at":"2026-05-18T12:26:47Z"}],"graph_snapshots":[{"event_id":"sha256:f454ce0ed7124aa56f6387e1b1c691eeec9403189af1b34b3787daf7a2770bec","target":"graph","created_at":"2026-05-18T04:15:27Z","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"},"paper":{"abstract_excerpt":"In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team; (iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication ","authors_text":"Calin Belta, Marius Kloetzer, Xu Chu Ding","cross_cats":["cs.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-08-16T13:47:00Z","title":"Multi-robot Deployment From LTL Specifications with Reduced Communication"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1108.3240","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":"sha256:6ccee1ab92f7596c2637efd798eaf217d8ce037c049a4dbc60630b62a2227e87","target":"record","created_at":"2026-05-18T04:15:27Z","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":"230a07a011968e9d89293ed333453ceb791eb46ceb364e0368a07f6dcef92151","cross_cats_sorted":["cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-08-16T13:47:00Z","title_canon_sha256":"deec214ae43ed2897837e9d7507f7d981a6ba060dfcaa775c8f0fac8bf6e5ff1"},"schema_version":"1.0","source":{"id":"1108.3240","kind":"arxiv","version":1}},"canonical_sha256":"c1cb405e72c671010c49cd7f2b4cef94e7650893e0983ba2af157bc6330de7b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c1cb405e72c671010c49cd7f2b4cef94e7650893e0983ba2af157bc6330de7b5","first_computed_at":"2026-05-18T04:15:27.713041Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:15:27.713041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Cejz+VaM7McthoGmAqKcxoYYjUXG7xydofE02Q7otVa3ifUgtnqhdqPCndqzwrS1Zq61x9SSalej2euW8vdHBA==","signature_status":"signed_v1","signed_at":"2026-05-18T04:15:27.713455Z","signed_message":"canonical_sha256_bytes"},"source_id":"1108.3240","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6ccee1ab92f7596c2637efd798eaf217d8ce037c049a4dbc60630b62a2227e87","sha256:f454ce0ed7124aa56f6387e1b1c691eeec9403189af1b34b3787daf7a2770bec"],"state_sha256":"49618ce025d90d0dc721eed81e2f12e4fe502928b050bf06a97086e3a39cb7fc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"q+RHv77mCcP9YR/eTNaZaEeFlEFFt0tbMjwfkBPfQ5wAOdlIfQgAQN5ASsGKTh0D9Hf/pFHwr9nlVAPQNxMFCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T20:09:54.919439Z","bundle_sha256":"d85209e88c4fd8b98944ffbe59afcc2407081cbff1c6e75da6538b9ed4385a04"}}