{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:KNEISZXTAUHAO2IHWVKIBHV7M4","short_pith_number":"pith:KNEISZXT","schema_version":"1.0","canonical_sha256":"53488966f3050e076907b554809ebf670e97b09bfdabb2d96c190c90a35e0971","source":{"kind":"arxiv","id":"2206.02245","version":1},"attestation_state":"computed","paper":{"title":"ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.MA","authors_text":"Ali-akbar Agha-mohammadi, Amanda Bouman, Angel Santamaria-Navarro, Avak Archanian, Giovanni Beltrame, Gustavo J. Correa, Gustavo Pessin, Hovhannes Melikyan, Jeffrey A. Edlund, Kyohei Otsu, Lillian Clark, Maira Saboia, Nils Napp, Sung-Kyun Kim, Thomas Touma, Tiago Stegun Vaquero, Torkom Pailevanian, Vivek Shankar Varadharajan, Vivek Thangavelu","submitted_at":"2022-06-05T19:35:54Z","abstract_excerpt":"Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, and to carefully consider comms requirements, otherwise mission-critical data may be lost. In this paper, we describe and analyze ACHORD (Autonomous & Collaborative High-Bandwidth Operations with Radio Droppables), a multi-layer networking solution wh"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2206.02245","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2022-06-05T19:35:54Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"156af895cc6e9363e450ea5552fc6237b112568588be9b977a960833eca0f1e8","abstract_canon_sha256":"88789c79d66b0e73e16c16e9995fef96299cc9a71f9ad1b268e50af3b9be5557"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:29:15.865299Z","signature_b64":"mRVFqHn17K/SkZxMWubygoTLpNKXbyhGp24FpJ3jeNgzhcpxDLJU1qDr7h9x5cuPQHv1gDRrgsk2D33vq3BXCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"53488966f3050e076907b554809ebf670e97b09bfdabb2d96c190c90a35e0971","last_reissued_at":"2026-07-05T04:29:15.864888Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:29:15.864888Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.MA","authors_text":"Ali-akbar Agha-mohammadi, Amanda Bouman, Angel Santamaria-Navarro, Avak Archanian, Giovanni Beltrame, Gustavo J. Correa, Gustavo Pessin, Hovhannes Melikyan, Jeffrey A. Edlund, Kyohei Otsu, Lillian Clark, Maira Saboia, Nils Napp, Sung-Kyun Kim, Thomas Touma, Tiago Stegun Vaquero, Torkom Pailevanian, Vivek Shankar Varadharajan, Vivek Thangavelu","submitted_at":"2022-06-05T19:35:54Z","abstract_excerpt":"Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, and to carefully consider comms requirements, otherwise mission-critical data may be lost. In this paper, we describe and analyze ACHORD (Autonomous & Collaborative High-Bandwidth Operations with Radio Droppables), a multi-layer networking solution wh"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.02245","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/2206.02245/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2206.02245","created_at":"2026-07-05T04:29:15.864946+00:00"},{"alias_kind":"arxiv_version","alias_value":"2206.02245v1","created_at":"2026-07-05T04:29:15.864946+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.02245","created_at":"2026-07-05T04:29:15.864946+00:00"},{"alias_kind":"pith_short_12","alias_value":"KNEISZXTAUHA","created_at":"2026-07-05T04:29:15.864946+00:00"},{"alias_kind":"pith_short_16","alias_value":"KNEISZXTAUHAO2IH","created_at":"2026-07-05T04:29:15.864946+00:00"},{"alias_kind":"pith_short_8","alias_value":"KNEISZXT","created_at":"2026-07-05T04:29:15.864946+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4","json":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4.json","graph_json":"https://pith.science/api/pith-number/KNEISZXTAUHAO2IHWVKIBHV7M4/graph.json","events_json":"https://pith.science/api/pith-number/KNEISZXTAUHAO2IHWVKIBHV7M4/events.json","paper":"https://pith.science/paper/KNEISZXT"},"agent_actions":{"view_html":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4","download_json":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4.json","view_paper":"https://pith.science/paper/KNEISZXT","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2206.02245&json=true","fetch_graph":"https://pith.science/api/pith-number/KNEISZXTAUHAO2IHWVKIBHV7M4/graph.json","fetch_events":"https://pith.science/api/pith-number/KNEISZXTAUHAO2IHWVKIBHV7M4/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4/action/timestamp_anchor","attest_storage":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4/action/storage_attestation","attest_author":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4/action/author_attestation","sign_citation":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4/action/citation_signature","submit_replication":"https://pith.science/pith/KNEISZXTAUHAO2IHWVKIBHV7M4/action/replication_record"}},"created_at":"2026-07-05T04:29:15.864946+00:00","updated_at":"2026-07-05T04:29:15.864946+00:00"}