{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:GZX6BZO2SXDFPXA643UJCVG63I","short_pith_number":"pith:GZX6BZO2","canonical_record":{"source":{"id":"2605.30906","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T06:42:55Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"244f6323010fd9afa64776e1f477eb1e2b11b3a544d28fded8c9d1f6d44a4474","abstract_canon_sha256":"0e6527ceb17871210b1a5d17d0e02f9036bc96d53ac844ac43229780fef73f6c"},"schema_version":"1.0"},"canonical_sha256":"366fe0e5da95c657dc1ee6e89154deda0765247f7c8f44eb2f145c5bbabee3e7","source":{"kind":"arxiv","id":"2605.30906","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30906","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30906v1","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30906","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_12","alias_value":"GZX6BZO2SXDF","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_16","alias_value":"GZX6BZO2SXDFPXA6","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_8","alias_value":"GZX6BZO2","created_at":"2026-06-01T01:03:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:GZX6BZO2SXDFPXA643UJCVG63I","target":"record","payload":{"canonical_record":{"source":{"id":"2605.30906","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T06:42:55Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"244f6323010fd9afa64776e1f477eb1e2b11b3a544d28fded8c9d1f6d44a4474","abstract_canon_sha256":"0e6527ceb17871210b1a5d17d0e02f9036bc96d53ac844ac43229780fef73f6c"},"schema_version":"1.0"},"canonical_sha256":"366fe0e5da95c657dc1ee6e89154deda0765247f7c8f44eb2f145c5bbabee3e7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-01T01:03:24.940411Z","signature_b64":"grCs7LbTJOSF65EheFw4jKpPb51dqaI5WbJT4bmVq21PomFjo8NKgfOvH1Vxx51tNWfEV5c1pclkdKZydNzADw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"366fe0e5da95c657dc1ee6e89154deda0765247f7c8f44eb2f145c5bbabee3e7","last_reissued_at":"2026-06-01T01:03:24.939646Z","signature_status":"signed_v1","first_computed_at":"2026-06-01T01:03:24.939646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.30906","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":"2026-06-01T01:03:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wY5ocDj7inY9sDwYSSMJiXMuEKwHjp+JsVaYnfY0dQC/SrKidzrSCSfv/K4mye7jbPQadft5Fe3y7OoF3fdmDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-25T20:27:46.475835Z"},"content_sha256":"72d0d30b61d245a4a67e2f39bdb15afc2ce5576bf47f5f5d4ec4781853ef6217","schema_version":"1.0","event_id":"sha256:72d0d30b61d245a4a67e2f39bdb15afc2ce5576bf47f5f5d4ec4781853ef6217"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:GZX6BZO2SXDFPXA643UJCVG63I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Nina Majer, S\\\"oren Hohmann, Stefan Schwab, Xin Ye, Yannick Epple","submitted_at":"2026-05-29T06:42:55Z","abstract_excerpt":"To enable an efficient interaction of non-communicating mobile robots in collision avoidance scenarios, we present a novel combined trajectory planning and prediction algorithm. Inverse optimal control is used to estimate unknown goal states of all robots based on observed past trajectories. Each robot also takes the perspective of other robots in considering self-prediction and solves a joint prediction problem using the estimated goal states. The resulting predictions are then considered for planning. Simulation results of scenarios with 2-8 robots show that the median of the durations until"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30906","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/2605.30906/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":"2026-06-01T01:03:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kbNoaYJnjKVe62jvM+VcUk/bQHLjnAPsUt5n4ns4YMcDqJAe3GYwAyZDB6AkIc33mL1tWB01gSUc/f4hDpMWDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-25T20:27:46.476235Z"},"content_sha256":"bb98adc74a0a5e02fa0ef983109aa75a7dcbc185dcecc38f433713f6f6004020","schema_version":"1.0","event_id":"sha256:bb98adc74a0a5e02fa0ef983109aa75a7dcbc185dcecc38f433713f6f6004020"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GZX6BZO2SXDFPXA643UJCVG63I/bundle.json","state_url":"https://pith.science/pith/GZX6BZO2SXDFPXA643UJCVG63I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GZX6BZO2SXDFPXA643UJCVG63I/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":"2026-06-25T20:27:46Z","links":{"resolver":"https://pith.science/pith/GZX6BZO2SXDFPXA643UJCVG63I","bundle":"https://pith.science/pith/GZX6BZO2SXDFPXA643UJCVG63I/bundle.json","state":"https://pith.science/pith/GZX6BZO2SXDFPXA643UJCVG63I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GZX6BZO2SXDFPXA643UJCVG63I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GZX6BZO2SXDFPXA643UJCVG63I","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":"0e6527ceb17871210b1a5d17d0e02f9036bc96d53ac844ac43229780fef73f6c","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T06:42:55Z","title_canon_sha256":"244f6323010fd9afa64776e1f477eb1e2b11b3a544d28fded8c9d1f6d44a4474"},"schema_version":"1.0","source":{"id":"2605.30906","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.30906","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"arxiv_version","alias_value":"2605.30906v1","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.30906","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_12","alias_value":"GZX6BZO2SXDF","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_16","alias_value":"GZX6BZO2SXDFPXA6","created_at":"2026-06-01T01:03:24Z"},{"alias_kind":"pith_short_8","alias_value":"GZX6BZO2","created_at":"2026-06-01T01:03:24Z"}],"graph_snapshots":[{"event_id":"sha256:bb98adc74a0a5e02fa0ef983109aa75a7dcbc185dcecc38f433713f6f6004020","target":"graph","created_at":"2026-06-01T01:03:24Z","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/2605.30906/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To enable an efficient interaction of non-communicating mobile robots in collision avoidance scenarios, we present a novel combined trajectory planning and prediction algorithm. Inverse optimal control is used to estimate unknown goal states of all robots based on observed past trajectories. Each robot also takes the perspective of other robots in considering self-prediction and solves a joint prediction problem using the estimated goal states. The resulting predictions are then considered for planning. Simulation results of scenarios with 2-8 robots show that the median of the durations until","authors_text":"Nina Majer, S\\\"oren Hohmann, Stefan Schwab, Xin Ye, Yannick Epple","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T06:42:55Z","title":"Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.30906","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":"sha256:72d0d30b61d245a4a67e2f39bdb15afc2ce5576bf47f5f5d4ec4781853ef6217","target":"record","created_at":"2026-06-01T01:03:24Z","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":"0e6527ceb17871210b1a5d17d0e02f9036bc96d53ac844ac43229780fef73f6c","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-29T06:42:55Z","title_canon_sha256":"244f6323010fd9afa64776e1f477eb1e2b11b3a544d28fded8c9d1f6d44a4474"},"schema_version":"1.0","source":{"id":"2605.30906","kind":"arxiv","version":1}},"canonical_sha256":"366fe0e5da95c657dc1ee6e89154deda0765247f7c8f44eb2f145c5bbabee3e7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"366fe0e5da95c657dc1ee6e89154deda0765247f7c8f44eb2f145c5bbabee3e7","first_computed_at":"2026-06-01T01:03:24.939646Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-01T01:03:24.939646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"grCs7LbTJOSF65EheFw4jKpPb51dqaI5WbJT4bmVq21PomFjo8NKgfOvH1Vxx51tNWfEV5c1pclkdKZydNzADw==","signature_status":"signed_v1","signed_at":"2026-06-01T01:03:24.940411Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.30906","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:72d0d30b61d245a4a67e2f39bdb15afc2ce5576bf47f5f5d4ec4781853ef6217","sha256:bb98adc74a0a5e02fa0ef983109aa75a7dcbc185dcecc38f433713f6f6004020"],"state_sha256":"eb1607c1e26a20cc01330576c47b3d328c2feca819135a1fdbe7b7b9d59c24a6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iPAZcch7fVElHX5fx9wQEZOf0wP7R9Y/gih6vP91au7qBlOH/yE5fJEssEfAZpVlnQPwTFKiLsakhYZlvhO0AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-25T20:27:46.478705Z","bundle_sha256":"286906cf49f5e8be31c22f374314c447140c8d5f5e048a9cc5e9a1cd7b5f834a"}}