{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:ZXKBG2HIWA2LX4HMNCLXN77V4W","short_pith_number":"pith:ZXKBG2HI","canonical_record":{"source":{"id":"1610.04964","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2016-10-17T03:29:42Z","cross_cats_sorted":[],"title_canon_sha256":"9cb211ea8f5266532ebcedfdd7bda9c73327af0a8de0b0a4144e4160a0066e3a","abstract_canon_sha256":"3a7741695a30beda09978cb26fc07528bcf716c40d988967e5c29271ea95dffc"},"schema_version":"1.0"},"canonical_sha256":"cdd41368e8b034bbf0ec689776fff5e5a83ad520a8552b7d836d466cb2bc1bd4","source":{"kind":"arxiv","id":"1610.04964","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.04964","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"arxiv_version","alias_value":"1610.04964v1","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.04964","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZXKBG2HIWA2L","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_16","alias_value":"ZXKBG2HIWA2LX4HM","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_8","alias_value":"ZXKBG2HI","created_at":"2026-05-18T12:30:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:ZXKBG2HIWA2LX4HMNCLXN77V4W","target":"record","payload":{"canonical_record":{"source":{"id":"1610.04964","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2016-10-17T03:29:42Z","cross_cats_sorted":[],"title_canon_sha256":"9cb211ea8f5266532ebcedfdd7bda9c73327af0a8de0b0a4144e4160a0066e3a","abstract_canon_sha256":"3a7741695a30beda09978cb26fc07528bcf716c40d988967e5c29271ea95dffc"},"schema_version":"1.0"},"canonical_sha256":"cdd41368e8b034bbf0ec689776fff5e5a83ad520a8552b7d836d466cb2bc1bd4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:02:06.575123Z","signature_b64":"YHfR0bXOBXVyWbAvbli5uGdWbgnMsTB/jW9KDmp5n/VwCKEqzYuhY/CDwJpVnVO5VgGS5XdN/Jm1saD3tmk1Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cdd41368e8b034bbf0ec689776fff5e5a83ad520a8552b7d836d466cb2bc1bd4","last_reissued_at":"2026-05-18T01:02:06.574498Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:02:06.574498Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1610.04964","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":"2026-05-18T01:02:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fDC6+yk+cs/M95HZU6SRwzXfPx3EKpkZQVrgQbvHqauw2wDuw0BPdPnurWh+JI4hvRZT5HmR1WCoGjjWbf08DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T23:20:54.341887Z"},"content_sha256":"662bb3bad8d61515640736995937e618add509401907284d380e7a14ed85251f","schema_version":"1.0","event_id":"sha256:662bb3bad8d61515640736995937e618add509401907284d380e7a14ed85251f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:ZXKBG2HIWA2LX4HMNCLXN77V4W","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Improvements in Sub-optimal Solving of the $(N^2-1)$-Puzzle via Joint Relocation of Pebbles and its Applications to Rule-based Cooperative Path-Finding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.AI","authors_text":"Pavel Surynek, Petr Michal\\'ik","submitted_at":"2016-10-17T03:29:42Z","abstract_excerpt":"The problem of solving $(n^2-1)$-puzzle and cooperative path-finding (CPF) sub-optimally by rule based algorithms is addressed in this manuscript. The task in the puzzle is to rearrange $n^2-1$ pebbles on the square grid of the size of n x n using one vacant position to a desired goal configuration. An improvement to the existent polynomial-time algorithm is proposed and experimentally analyzed. The improved algorithm is trying to move pebbles in a more efficient way than the original algorithm by grouping them into so-called snakes and moving them jointly within the snake. An experimental eva"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.04964","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":"2026-05-18T01:02:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ciGuaFwbKdvMHFnkUkSwXtjD0i92YWNn0NfikYcoi7Ox+k+43XEs4F8dB9gXfjRWDQoabqmXIM4MGiBWeZQYDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T23:20:54.342283Z"},"content_sha256":"2572b4aa94f286d7e15a8c06a6b511ef8c59ab685b15917290ccfeefe7da69f4","schema_version":"1.0","event_id":"sha256:2572b4aa94f286d7e15a8c06a6b511ef8c59ab685b15917290ccfeefe7da69f4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/bundle.json","state_url":"https://pith.science/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/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":"2026-05-27T23:20:54Z","links":{"resolver":"https://pith.science/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W","bundle":"https://pith.science/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/bundle.json","state":"https://pith.science/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZXKBG2HIWA2LX4HMNCLXN77V4W/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:ZXKBG2HIWA2LX4HMNCLXN77V4W","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":"3a7741695a30beda09978cb26fc07528bcf716c40d988967e5c29271ea95dffc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2016-10-17T03:29:42Z","title_canon_sha256":"9cb211ea8f5266532ebcedfdd7bda9c73327af0a8de0b0a4144e4160a0066e3a"},"schema_version":"1.0","source":{"id":"1610.04964","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.04964","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"arxiv_version","alias_value":"1610.04964v1","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.04964","created_at":"2026-05-18T01:02:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZXKBG2HIWA2L","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_16","alias_value":"ZXKBG2HIWA2LX4HM","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_8","alias_value":"ZXKBG2HI","created_at":"2026-05-18T12:30:55Z"}],"graph_snapshots":[{"event_id":"sha256:2572b4aa94f286d7e15a8c06a6b511ef8c59ab685b15917290ccfeefe7da69f4","target":"graph","created_at":"2026-05-18T01:02:06Z","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":"The problem of solving $(n^2-1)$-puzzle and cooperative path-finding (CPF) sub-optimally by rule based algorithms is addressed in this manuscript. The task in the puzzle is to rearrange $n^2-1$ pebbles on the square grid of the size of n x n using one vacant position to a desired goal configuration. An improvement to the existent polynomial-time algorithm is proposed and experimentally analyzed. The improved algorithm is trying to move pebbles in a more efficient way than the original algorithm by grouping them into so-called snakes and moving them jointly within the snake. An experimental eva","authors_text":"Pavel Surynek, Petr Michal\\'ik","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2016-10-17T03:29:42Z","title":"Improvements in Sub-optimal Solving of the $(N^2-1)$-Puzzle via Joint Relocation of Pebbles and its Applications to Rule-based Cooperative Path-Finding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.04964","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":"sha256:662bb3bad8d61515640736995937e618add509401907284d380e7a14ed85251f","target":"record","created_at":"2026-05-18T01:02:06Z","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":"3a7741695a30beda09978cb26fc07528bcf716c40d988967e5c29271ea95dffc","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2016-10-17T03:29:42Z","title_canon_sha256":"9cb211ea8f5266532ebcedfdd7bda9c73327af0a8de0b0a4144e4160a0066e3a"},"schema_version":"1.0","source":{"id":"1610.04964","kind":"arxiv","version":1}},"canonical_sha256":"cdd41368e8b034bbf0ec689776fff5e5a83ad520a8552b7d836d466cb2bc1bd4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cdd41368e8b034bbf0ec689776fff5e5a83ad520a8552b7d836d466cb2bc1bd4","first_computed_at":"2026-05-18T01:02:06.574498Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:02:06.574498Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YHfR0bXOBXVyWbAvbli5uGdWbgnMsTB/jW9KDmp5n/VwCKEqzYuhY/CDwJpVnVO5VgGS5XdN/Jm1saD3tmk1Dw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:02:06.575123Z","signed_message":"canonical_sha256_bytes"},"source_id":"1610.04964","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:662bb3bad8d61515640736995937e618add509401907284d380e7a14ed85251f","sha256:2572b4aa94f286d7e15a8c06a6b511ef8c59ab685b15917290ccfeefe7da69f4"],"state_sha256":"f0e7aadf5712df939cc4a3c01afa56155828f7e787c6988a651c54a8794d43d2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eiQgzEkM2JFkkTfZhg89XNvupB1bwAg2E/vurfDs4ogLWoaxDrFgOdgr9SLYEmeTgQa6mnCPTV8lgPQyMkVrAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T23:20:54.345509Z","bundle_sha256":"85dd25ea6c15dba58842385811946c0323569ba9190bdba0fc78e027d45b07b9"}}