{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:3SKKZ7TGB4XMMK52ZWX6BTG6CB","short_pith_number":"pith:3SKKZ7TG","canonical_record":{"source":{"id":"1803.07180","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-19T22:15:28Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"0f4fdda0bda3b6953d8163875661604fedc0c6e05d9cbdbdfc80a6df5e18269e","abstract_canon_sha256":"f426b3a1d2e1b3753f5a6066660a65c30a4c80ec254854164149e4fed8eb1b6e"},"schema_version":"1.0"},"canonical_sha256":"dc94acfe660f2ec62bbacdafe0ccde107d44fb16b08bf209c77c4ddf423999e7","source":{"kind":"arxiv","id":"1803.07180","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.07180","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"arxiv_version","alias_value":"1803.07180v2","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.07180","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"pith_short_12","alias_value":"3SKKZ7TGB4XM","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_16","alias_value":"3SKKZ7TGB4XMMK52","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_8","alias_value":"3SKKZ7TG","created_at":"2026-05-18T12:32:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:3SKKZ7TGB4XMMK52ZWX6BTG6CB","target":"record","payload":{"canonical_record":{"source":{"id":"1803.07180","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-19T22:15:28Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"0f4fdda0bda3b6953d8163875661604fedc0c6e05d9cbdbdfc80a6df5e18269e","abstract_canon_sha256":"f426b3a1d2e1b3753f5a6066660a65c30a4c80ec254854164149e4fed8eb1b6e"},"schema_version":"1.0"},"canonical_sha256":"dc94acfe660f2ec62bbacdafe0ccde107d44fb16b08bf209c77c4ddf423999e7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:23.702233Z","signature_b64":"ddNUZH7mKYpkCkqpScfDOE+NNWus1+cb5NXbOkxNxiPvNRQwQTzvsYgxQK6aXhimjutklwIP9a+eWKyTynABBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dc94acfe660f2ec62bbacdafe0ccde107d44fb16b08bf209c77c4ddf423999e7","last_reissued_at":"2026-05-18T00:05:23.701685Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:23.701685Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1803.07180","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:05:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QIGfnQw34EfGar0wg4oifSbPxhKQ1YkjL9ZWLDb1AQwXYZkwfJ2Jp/UyFCNxI8hf62iBVe9q44VO30BiGLjwBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T16:27:10.561989Z"},"content_sha256":"979e3b5717428c6a93f79638f682dc687381724610937d5111f51a12c022929e","schema_version":"1.0","event_id":"sha256:979e3b5717428c6a93f79638f682dc687381724610937d5111f51a12c022929e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:3SKKZ7TGB4XMMK52ZWX6BTG6CB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Probabilistic Occupancy Function and Sets Using Forward Stochastic Reachability for Rigid-Body Dynamic Obstacles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.SY","authors_text":"Abraham P. Vinod, Meeko M. K. Oishi","submitted_at":"2018-03-19T22:15:28Z","abstract_excerpt":"We present theory and algorithms for the computation of probability-weighted \"keep-out\" sets to assure probabilistically safe navigation in the presence of multiple rigid body obstacles with stochastic dynamics. Our forward stochastic reachability-based approach characterizes the stochasticity of the future obstacle states in a grid-free and recursion-free manner, using Fourier transforms and computational geometry. We consider discrete-time Markovian switched systems with affine parameter-varying stochastic subsystems (DMSP) as the obstacle dynamics, which includes Markov jump affine systems "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.07180","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:05:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T3ag7gIdPm+EuzX8mV7EqpUjI5Tsbg/zjM89EYTZytod5g5y829u5mkMf+bZqDTc2Fdtir8qa3nBq8H6iVgqCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T16:27:10.562635Z"},"content_sha256":"f3f6648f714840f98fec9f7f476f461e7da790fe89b514046b7e4e856d127e41","schema_version":"1.0","event_id":"sha256:f3f6648f714840f98fec9f7f476f461e7da790fe89b514046b7e4e856d127e41"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/bundle.json","state_url":"https://pith.science/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/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":"2026-06-07T16:27:10Z","links":{"resolver":"https://pith.science/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB","bundle":"https://pith.science/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/bundle.json","state":"https://pith.science/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3SKKZ7TGB4XMMK52ZWX6BTG6CB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:3SKKZ7TGB4XMMK52ZWX6BTG6CB","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":"f426b3a1d2e1b3753f5a6066660a65c30a4c80ec254854164149e4fed8eb1b6e","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-19T22:15:28Z","title_canon_sha256":"0f4fdda0bda3b6953d8163875661604fedc0c6e05d9cbdbdfc80a6df5e18269e"},"schema_version":"1.0","source":{"id":"1803.07180","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.07180","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"arxiv_version","alias_value":"1803.07180v2","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.07180","created_at":"2026-05-18T00:05:23Z"},{"alias_kind":"pith_short_12","alias_value":"3SKKZ7TGB4XM","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_16","alias_value":"3SKKZ7TGB4XMMK52","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_8","alias_value":"3SKKZ7TG","created_at":"2026-05-18T12:32:05Z"}],"graph_snapshots":[{"event_id":"sha256:f3f6648f714840f98fec9f7f476f461e7da790fe89b514046b7e4e856d127e41","target":"graph","created_at":"2026-05-18T00:05:23Z","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"},"paper":{"abstract_excerpt":"We present theory and algorithms for the computation of probability-weighted \"keep-out\" sets to assure probabilistically safe navigation in the presence of multiple rigid body obstacles with stochastic dynamics. Our forward stochastic reachability-based approach characterizes the stochasticity of the future obstacle states in a grid-free and recursion-free manner, using Fourier transforms and computational geometry. We consider discrete-time Markovian switched systems with affine parameter-varying stochastic subsystems (DMSP) as the obstacle dynamics, which includes Markov jump affine systems ","authors_text":"Abraham P. Vinod, Meeko M. K. Oishi","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-19T22:15:28Z","title":"Probabilistic Occupancy Function and Sets Using Forward Stochastic Reachability for Rigid-Body Dynamic Obstacles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.07180","kind":"arxiv","version":2},"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":"sha256:979e3b5717428c6a93f79638f682dc687381724610937d5111f51a12c022929e","target":"record","created_at":"2026-05-18T00:05:23Z","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":"f426b3a1d2e1b3753f5a6066660a65c30a4c80ec254854164149e4fed8eb1b6e","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-19T22:15:28Z","title_canon_sha256":"0f4fdda0bda3b6953d8163875661604fedc0c6e05d9cbdbdfc80a6df5e18269e"},"schema_version":"1.0","source":{"id":"1803.07180","kind":"arxiv","version":2}},"canonical_sha256":"dc94acfe660f2ec62bbacdafe0ccde107d44fb16b08bf209c77c4ddf423999e7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dc94acfe660f2ec62bbacdafe0ccde107d44fb16b08bf209c77c4ddf423999e7","first_computed_at":"2026-05-18T00:05:23.701685Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:23.701685Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ddNUZH7mKYpkCkqpScfDOE+NNWus1+cb5NXbOkxNxiPvNRQwQTzvsYgxQK6aXhimjutklwIP9a+eWKyTynABBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:23.702233Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.07180","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:979e3b5717428c6a93f79638f682dc687381724610937d5111f51a12c022929e","sha256:f3f6648f714840f98fec9f7f476f461e7da790fe89b514046b7e4e856d127e41"],"state_sha256":"54a36c2573289e6b1b84711095f9868584f4e661dd3f30890acb289b358a7932"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xsku8DIDurq13mw4FTnnTXzGhMBhIJZbVSTLHZtUBTcb9eq48JVORHOUlz/fBhNLN3S1ajwpZ1h25qZSsr5FDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T16:27:10.566667Z","bundle_sha256":"454edf7da3c84b9bb6fc339fbe96fae8469c5d212cd1219038329068dfe73c5a"}}