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Abstract Mount Elbrus, Europe's tallest and largely glaciated volcano, is made of silicic lavas and is known for Holocene eruptions, but the size and state of its magma chamber remain poorly constrained. We report high spatial resolution U–Th–Pb zircon ages, co-registered with oxygen and hafnium isotopic values, span ~ 0.6 Ma in each lava, documenting magmatic initiation that forms the current edifice. The best-fit thermochemical modeling constrains magmatic fluxes at 1.2 km 3 /1000 year by hot (900 °C), initially zircon-undersaturated dacite into a vertically extensive magma body since ~ 0.6 Ma, whereas a volcanic episode with eruptible magma only extends over the past 0.2 Ma, matching the age of oldest lavas. Simulations explain the total magma volume of ~ 180 km 3 , temporally oscillating δ 18 O and εHf values, and a wide range of zircon age distributions in each sample. These data provide insights into the current state (~ 200 km 3 of melt in a vertically extensive system) and the potential for future activity of Elbrus calling for much-needed seismic imaging. Similar zircon records worldwide require continuous intrusive activity by magmatic accretion of silicic magmas generated at depths, and that zircon ages do not reflect eruption ages but predate them by ~ 10 3 to 10 5  years reflecting protracted dissolution–crystallization histories. 

In a multi-agent path finding (MAPF) problem, the task is to move a set of agents to their goal locations without conflicts. In the real world, unexpected events may delay some of the agents. In this paper, we therefore study the problem of finding a p-robust solution to a given MAPF problem, which is a solution that succeeds with probability at least p, even though unexpected delays may occur. We propose two methods for verifying that given solutions are p-robust. We also introduce an optimal CBS-based algorithm, called pR-CBS, and a fast suboptimal algorithm, called pR-GCBS, for finding such solutions. Our experiments show that a p-robust solution reduces the number of conflicts compared to optimal, non-robust solutions. 

The MAPF problem is the fundamental problem of planning paths for multiple agents, where the key constraint is that the agents will be able to follow these paths concurrently without colliding with each other. Applications of MAPF include automated warehouses and autonomous vehicles. Research on MAPF has been flourishing in the past couple of years. Different MAPF research papers make different assumptions, e.g., whether agents can traverse the same road at the same time, and have different objective functions, e.g., minimize makespan or sum of agents' actions costs. These assumptions and objectives are sometimes implicitly assumed or described informally. This makes it difficult to establish appropriate baselines for comparison in research papers, as well as making it difficult for practitioners to find the papers relevant to their concrete application. This paper aims to fill this gap and support researchers and practitioners by providing a unifying terminology for describing common MAPF assumptions and objectives. In addition, we also provide pointers to two MAPF benchmarks. In particular, we introduce a new grid-based benchmark for MAPF, and demonstrate experimentally that it poses a challenge to contemporary MAPF algorithms. 

Most arcs show systematic temporal and spatial variations in magmatism with clear shifts in igneous rock compositions between those of the magmatic front (MF) and those in the backarc (BA). It is unclear if similar magmatic polarity is seen for extensional continental arcs. Herein, we use geochemical and isotopic characteristics coupled with zircon U‐Pb geochronology to identify the different magmatic style of the Iran convergent margin, an extensional system that evolved over 100 Myr. Our new and compiled U‐Pb ages indicate that major magmatic episodes for the NE Iran BA occurred at 110–80, 75–50, 50–35, 35–20, and 15–10 Ma. In contrast to NE Iran BA magmatic episodes, compiled data from MF display two main magmatic episodes at 95–75 and 55–5 Ma, indicating more continuous magmatism for the MF than for the BA. We show that Paleogene Iran serves as a useful example of a continental arc under extension. Our data also suggest that there is not a clear relationship between the subduction velocity of Neotethyan Ocean beneath Iran and magmatic activity in Iran. Our results imply that the isotopic compositions of Iran BA igneous rocks do not directly correspond to the changes in tectonic processes or geodynamics, but other parameters such as the composition of lithosphere and melt source(s) should be considered. In addition, changes in subduction zone dynamics and contractional versus extensional tectonic regimes influenced the composition of MF and BA magmatic rocks. These controls diminished the geochemical and isotopic variations between the magmatic front and backarc.