{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:4AXMJ3HJTBXOQ7FHYEEKI4MEJL","short_pith_number":"pith:4AXMJ3HJ","canonical_record":{"source":{"id":"1710.00239","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-30T18:23:10Z","cross_cats_sorted":[],"title_canon_sha256":"031cb2d8c22f4a0f7571f27033617f6ee8aee966a43328d353bc4b2e15a0f6be","abstract_canon_sha256":"74b32f9ad659bdf1b4a56a3b8a7e5067b6c185338b7a7b87715a0dc88d460ad6"},"schema_version":"1.0"},"canonical_sha256":"e02ec4ece9986ee87ca7c108a471844ae87dcc7b820fcc78954013b479c8f65b","source":{"kind":"arxiv","id":"1710.00239","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.00239","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"arxiv_version","alias_value":"1710.00239v1","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.00239","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"pith_short_12","alias_value":"4AXMJ3HJTBXO","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_16","alias_value":"4AXMJ3HJTBXOQ7FH","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_8","alias_value":"4AXMJ3HJ","created_at":"2026-05-18T12:30:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:4AXMJ3HJTBXOQ7FHYEEKI4MEJL","target":"record","payload":{"canonical_record":{"source":{"id":"1710.00239","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-30T18:23:10Z","cross_cats_sorted":[],"title_canon_sha256":"031cb2d8c22f4a0f7571f27033617f6ee8aee966a43328d353bc4b2e15a0f6be","abstract_canon_sha256":"74b32f9ad659bdf1b4a56a3b8a7e5067b6c185338b7a7b87715a0dc88d460ad6"},"schema_version":"1.0"},"canonical_sha256":"e02ec4ece9986ee87ca7c108a471844ae87dcc7b820fcc78954013b479c8f65b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:33:55.434105Z","signature_b64":"BHwaCfvY45BdLXmvEu+B4giVK48LNHBfb5xLlqeSWyfU+OUjUdkCpdnwwHWFKmZArC/9nEx4opiW49YeqauIAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e02ec4ece9986ee87ca7c108a471844ae87dcc7b820fcc78954013b479c8f65b","last_reissued_at":"2026-05-18T00:33:55.433452Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:33:55.433452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1710.00239","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:33:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Rb+qDTvb/EMer9ENdHaJWweTor+pOLOiN8+X2DxaiDw+/DXH0e3lkvvLJytDTzuyhkpCiKnf0TtkRzyH4eilAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T19:32:23.482298Z"},"content_sha256":"4fe41416b259e77f9d33f2a40a5471f4f289d342b75154436ea36e526b8bd1ba","schema_version":"1.0","event_id":"sha256:4fe41416b259e77f9d33f2a40a5471f4f289d342b75154436ea36e526b8bd1ba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:4AXMJ3HJTBXOQ7FHYEEKI4MEJL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"$\\kappa$-PMP: Enhancing Physics-based Motion Planners with Knowledge-based Reasoning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aliakbar Akbari, Jan Rosell, Muhayyuddin","submitted_at":"2017-09-30T18:23:10Z","abstract_excerpt":"Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setting of the adequate forces for the interactions and because these interactions may change the pose of the manipulatable obstacles, thus either facilitating or preventing the finding of a solution path. The use of knowledge can alleviate the stated dif"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.00239","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":""},"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":"2026-05-18T00:33:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/sGQfqQf0CM00bB4HNn5mgEWHz9vWSeaEXrn822yYDAUuQTQTx0kO36mqrGDakXI1d3BSGRCEx/EsOnJL4I7Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T19:32:23.482666Z"},"content_sha256":"40ddcb9223453e020b4650f8e050bc6231f4cef598ad5d600fb6488e8725c634","schema_version":"1.0","event_id":"sha256:40ddcb9223453e020b4650f8e050bc6231f4cef598ad5d600fb6488e8725c634"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/bundle.json","state_url":"https://pith.science/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/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":"2026-06-02T19:32:23Z","links":{"resolver":"https://pith.science/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL","bundle":"https://pith.science/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/bundle.json","state":"https://pith.science/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4AXMJ3HJTBXOQ7FHYEEKI4MEJL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:4AXMJ3HJTBXOQ7FHYEEKI4MEJL","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":"74b32f9ad659bdf1b4a56a3b8a7e5067b6c185338b7a7b87715a0dc88d460ad6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-30T18:23:10Z","title_canon_sha256":"031cb2d8c22f4a0f7571f27033617f6ee8aee966a43328d353bc4b2e15a0f6be"},"schema_version":"1.0","source":{"id":"1710.00239","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.00239","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"arxiv_version","alias_value":"1710.00239v1","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.00239","created_at":"2026-05-18T00:33:55Z"},{"alias_kind":"pith_short_12","alias_value":"4AXMJ3HJTBXO","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_16","alias_value":"4AXMJ3HJTBXOQ7FH","created_at":"2026-05-18T12:30:58Z"},{"alias_kind":"pith_short_8","alias_value":"4AXMJ3HJ","created_at":"2026-05-18T12:30:58Z"}],"graph_snapshots":[{"event_id":"sha256:40ddcb9223453e020b4650f8e050bc6231f4cef598ad5d600fb6488e8725c634","target":"graph","created_at":"2026-05-18T00:33:55Z","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":"Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setting of the adequate forces for the interactions and because these interactions may change the pose of the manipulatable obstacles, thus either facilitating or preventing the finding of a solution path. The use of knowledge can alleviate the stated dif","authors_text":"Aliakbar Akbari, Jan Rosell, Muhayyuddin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-30T18:23:10Z","title":"$\\kappa$-PMP: Enhancing Physics-based Motion Planners with Knowledge-based Reasoning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.00239","kind":"arxiv","version":1},"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":"sha256:4fe41416b259e77f9d33f2a40a5471f4f289d342b75154436ea36e526b8bd1ba","target":"record","created_at":"2026-05-18T00:33:55Z","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":"74b32f9ad659bdf1b4a56a3b8a7e5067b6c185338b7a7b87715a0dc88d460ad6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-30T18:23:10Z","title_canon_sha256":"031cb2d8c22f4a0f7571f27033617f6ee8aee966a43328d353bc4b2e15a0f6be"},"schema_version":"1.0","source":{"id":"1710.00239","kind":"arxiv","version":1}},"canonical_sha256":"e02ec4ece9986ee87ca7c108a471844ae87dcc7b820fcc78954013b479c8f65b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e02ec4ece9986ee87ca7c108a471844ae87dcc7b820fcc78954013b479c8f65b","first_computed_at":"2026-05-18T00:33:55.433452Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:33:55.433452Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BHwaCfvY45BdLXmvEu+B4giVK48LNHBfb5xLlqeSWyfU+OUjUdkCpdnwwHWFKmZArC/9nEx4opiW49YeqauIAw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:33:55.434105Z","signed_message":"canonical_sha256_bytes"},"source_id":"1710.00239","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4fe41416b259e77f9d33f2a40a5471f4f289d342b75154436ea36e526b8bd1ba","sha256:40ddcb9223453e020b4650f8e050bc6231f4cef598ad5d600fb6488e8725c634"],"state_sha256":"c4bf6f469de8b4d2f4151de47e839f528acae44e879444efe90c9afe14a171e3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gTt30DQ1Mm17J5Vz6P0r3iMKpYAgiTibUOUw7UA7GRdvggULw7I19EdQbU6jRuIKT1AmhOqsSCLnJQmGQ4JFCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T19:32:23.484606Z","bundle_sha256":"291ed66e27215c94ef804ce1f651878c80e35349af1555dced5de540a387a173"}}