{"paper":{"title":"SPITE: Simple Polyhedral Intersection Techniques for modified Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"James Motes, Marco Morales, Maria Lusardi, Marta Markowicz, Nancy M. Amato, Sariel Har-Peled, Stav Ashur","submitted_at":"2024-06-28T23:07:32Z","abstract_excerpt":"Motion planning in modified environments is a challenging task, as it\n  compounds the innate difficulty of the motion planning problem with a changing\n  environment. This renders some algorithmic methods such as probabilistic\n  roadmaps less viable, as nodes and edges may become invalid as a result of these\n  changes.\n  In this paper, we present a method of transforming any configuration\n  space graph, such as a roadmap, to a dynamic data structure capable of updating\n  the validity of its nodes and edges in response to discrete changes in obstacle positions.\n  We use methods from computationa"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00259","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/2407.00259/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"}