{"id":"5c63616b-ca0c-45d8-9676-09409c5bc9e0","arxiv_id":"1908.00380","paper_version":1,"verdict":"CONDITIONAL","confidence":"MODERATE","novelty_score":6.0,"correctness_risk":"medium","formal_verification":"none","parameter_count":1,"one_line_summary":"A normalized bi-objective optimization solved in closed form steers a Dubins vehicle to a stationary target using only bearing measurements, with and without global position.","lead":"A new controller steers a robot toward a target of unknown location using only noisy direction measurements, balancing the need to learn the target position with the need to get close. It has a mostly closed-form control law, works without GPS, and is validated by simulations, though not by formal guarantees.","discovery_kind":"new_method","skeptic_critique":null,"referee_report":null,"author_rebuttal":null,"desk_editor":null,"rs_alignment":null,"lean_confirmation":null,"pith_extraction":null,"created_at":"2026-08-14T16:01:37.766939+00:00","model_set":{"reader":"deepseek-v4-flash"},"falsifier":null,"supporting_citations":[],"review_version":1}