{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:ZGYOWIJGD2V5UNND6EMGZJLRNZ","short_pith_number":"pith:ZGYOWIJG","canonical_record":{"source":{"id":"2106.08164","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-15T14:07:56Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c5e47905596a1fbca61a3bd77ca91971ad1377905e43629edda9006551d5be2b","abstract_canon_sha256":"40c3df8719803860383f557ff0c8acb828660b19d6b1bc5431242c3baccd8167"},"schema_version":"1.0"},"canonical_sha256":"c9b0eb21261eabda35a3f1186ca5716e6f712be01bfdc3141bbea30c75434c9d","source":{"kind":"arxiv","id":"2106.08164","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.08164","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"arxiv_version","alias_value":"2106.08164v1","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.08164","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_12","alias_value":"ZGYOWIJGD2V5","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_16","alias_value":"ZGYOWIJGD2V5UNND","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_8","alias_value":"ZGYOWIJG","created_at":"2026-07-05T02:49:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:ZGYOWIJGD2V5UNND6EMGZJLRNZ","target":"record","payload":{"canonical_record":{"source":{"id":"2106.08164","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-15T14:07:56Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"c5e47905596a1fbca61a3bd77ca91971ad1377905e43629edda9006551d5be2b","abstract_canon_sha256":"40c3df8719803860383f557ff0c8acb828660b19d6b1bc5431242c3baccd8167"},"schema_version":"1.0"},"canonical_sha256":"c9b0eb21261eabda35a3f1186ca5716e6f712be01bfdc3141bbea30c75434c9d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:49:38.186065Z","signature_b64":"JofyYKG3MWg4+Ht4zx3m5AG6XbCJifc2fYRmao8S1OirToq4vQEY0NJsP+41p6+PTH+g5DiGIEa/J4RejUGuAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c9b0eb21261eabda35a3f1186ca5716e6f712be01bfdc3141bbea30c75434c9d","last_reissued_at":"2026-07-05T02:49:38.185583Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:49:38.185583Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2106.08164","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":"2026-07-05T02:49:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6Qp7NQpLEWcbBv3Ign7nLeea/6+DjUpxo5G9FGgQsVE0ECZ2RTSrNNotsifQQUZ4lEYzEkAFVZPBjKCAx4a1AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:36:04.413837Z"},"content_sha256":"42c4dda5a684ff15676f0f628067f56bbf77df0296534f0122070d02edcd81cc","schema_version":"1.0","event_id":"sha256:42c4dda5a684ff15676f0f628067f56bbf77df0296534f0122070d02edcd81cc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:ZGYOWIJGD2V5UNND6EMGZJLRNZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Task Allocation and Coordinated Motion Planning for Autonomous Multi-Robot Optical Inspection Systems","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Tim Lutz, Wenzheng Zhao, Xiaowei Yue, Yinhua Liu","submitted_at":"2021-06-15T14:07:56Z","abstract_excerpt":"Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for static and dynamic environments and applied to different fields. However, these approaches may not work for the autonomous multi-robot optical inspection system due to fast computation requirements of inline optimization, unique characteristics on robotic end-effector orientations, and complex large-scale free-form product surfaces. This paper proposes a novel t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.08164","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/2106.08164/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":"2026-07-05T02:49:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UfH/hnDsZIekL7rkTz3rBV+uYUZuFBSRr/4Dx0b3c9SVmEaaPbFpji/GXvst7RRiYBRGg1GXK6KPABo/qmh3CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T22:36:04.414368Z"},"content_sha256":"17dd2c03fdc3517367161dce0626d6fd90d589f5b3b8bf440b050fe3e9a0a59b","schema_version":"1.0","event_id":"sha256:17dd2c03fdc3517367161dce0626d6fd90d589f5b3b8bf440b050fe3e9a0a59b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/bundle.json","state_url":"https://pith.science/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/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":"2026-08-03T22:36:04Z","links":{"resolver":"https://pith.science/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ","bundle":"https://pith.science/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/bundle.json","state":"https://pith.science/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZGYOWIJGD2V5UNND6EMGZJLRNZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ZGYOWIJGD2V5UNND6EMGZJLRNZ","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":"40c3df8719803860383f557ff0c8acb828660b19d6b1bc5431242c3baccd8167","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-15T14:07:56Z","title_canon_sha256":"c5e47905596a1fbca61a3bd77ca91971ad1377905e43629edda9006551d5be2b"},"schema_version":"1.0","source":{"id":"2106.08164","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.08164","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"arxiv_version","alias_value":"2106.08164v1","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.08164","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_12","alias_value":"ZGYOWIJGD2V5","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_16","alias_value":"ZGYOWIJGD2V5UNND","created_at":"2026-07-05T02:49:38Z"},{"alias_kind":"pith_short_8","alias_value":"ZGYOWIJG","created_at":"2026-07-05T02:49:38Z"}],"graph_snapshots":[{"event_id":"sha256:17dd2c03fdc3517367161dce0626d6fd90d589f5b3b8bf440b050fe3e9a0a59b","target":"graph","created_at":"2026-07-05T02:49:38Z","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/2106.08164/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for static and dynamic environments and applied to different fields. However, these approaches may not work for the autonomous multi-robot optical inspection system due to fast computation requirements of inline optimization, unique characteristics on robotic end-effector orientations, and complex large-scale free-form product surfaces. This paper proposes a novel t","authors_text":"Tim Lutz, Wenzheng Zhao, Xiaowei Yue, Yinhua Liu","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-15T14:07:56Z","title":"Task Allocation and Coordinated Motion Planning for Autonomous Multi-Robot Optical Inspection Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.08164","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":"sha256:42c4dda5a684ff15676f0f628067f56bbf77df0296534f0122070d02edcd81cc","target":"record","created_at":"2026-07-05T02:49:38Z","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":"40c3df8719803860383f557ff0c8acb828660b19d6b1bc5431242c3baccd8167","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-15T14:07:56Z","title_canon_sha256":"c5e47905596a1fbca61a3bd77ca91971ad1377905e43629edda9006551d5be2b"},"schema_version":"1.0","source":{"id":"2106.08164","kind":"arxiv","version":1}},"canonical_sha256":"c9b0eb21261eabda35a3f1186ca5716e6f712be01bfdc3141bbea30c75434c9d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9b0eb21261eabda35a3f1186ca5716e6f712be01bfdc3141bbea30c75434c9d","first_computed_at":"2026-07-05T02:49:38.185583Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:49:38.185583Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"JofyYKG3MWg4+Ht4zx3m5AG6XbCJifc2fYRmao8S1OirToq4vQEY0NJsP+41p6+PTH+g5DiGIEa/J4RejUGuAw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:49:38.186065Z","signed_message":"canonical_sha256_bytes"},"source_id":"2106.08164","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:42c4dda5a684ff15676f0f628067f56bbf77df0296534f0122070d02edcd81cc","sha256:17dd2c03fdc3517367161dce0626d6fd90d589f5b3b8bf440b050fe3e9a0a59b"],"state_sha256":"fce7d0ed8c24f5a872a9190c8e77327f7e0894f0dcf69d30c68b410dfd59783b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+K6pyIvJ0iPfWw4D0H0mO+4kfVHV0W9OzPa5eoqW9aS+3Lqml85Qh9phjzICkqcMKcH5FTL5CNCZUOryMryOCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T22:36:04.418151Z","bundle_sha256":"59c8b7d6648ad7dd8a2b3e289213fb074d309338172de8b4d0b12e7e4d81c568"}}