{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:4RYCGJP3P4CCQWBUWA3L22MQN5","short_pith_number":"pith:4RYCGJP3","canonical_record":{"source":{"id":"1708.02845","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-09T13:57:38Z","cross_cats_sorted":[],"title_canon_sha256":"41dfe47586c1f5c8221bec76d7d0a65f83bd4ade5eb51e25ab137547e27af1f9","abstract_canon_sha256":"4e4d7e98cfcd143bafd130c293fc91226350844600527ba4c82bd893af8bd420"},"schema_version":"1.0"},"canonical_sha256":"e4702325fb7f04285834b036bd69906f429c67be7d2ad7eafac93772ec5e1a9a","source":{"kind":"arxiv","id":"1708.02845","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.02845","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"arxiv_version","alias_value":"1708.02845v1","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.02845","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"pith_short_12","alias_value":"4RYCGJP3P4CC","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"4RYCGJP3P4CCQWBU","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"4RYCGJP3","created_at":"2026-05-18T12:31:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:4RYCGJP3P4CCQWBUWA3L22MQN5","target":"record","payload":{"canonical_record":{"source":{"id":"1708.02845","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-09T13:57:38Z","cross_cats_sorted":[],"title_canon_sha256":"41dfe47586c1f5c8221bec76d7d0a65f83bd4ade5eb51e25ab137547e27af1f9","abstract_canon_sha256":"4e4d7e98cfcd143bafd130c293fc91226350844600527ba4c82bd893af8bd420"},"schema_version":"1.0"},"canonical_sha256":"e4702325fb7f04285834b036bd69906f429c67be7d2ad7eafac93772ec5e1a9a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:38:19.363367Z","signature_b64":"a5OQhkFIceJ00oVq7nRsAj++6rEX7QkoRu/zvYMoDNE0wmewCOOAjXLZ0W3g6sARb46+ASx6cCOVQiQKi6l9DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e4702325fb7f04285834b036bd69906f429c67be7d2ad7eafac93772ec5e1a9a","last_reissued_at":"2026-05-18T00:38:19.362719Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:38:19.362719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1708.02845","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":"2026-05-18T00:38:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aDwZLDpWsopg68Ian5T8ybmwH9BPxsFQ3RogKhWb3Mm5g18ZEz2xP6chBCNYLJ9oz7qcLFu21F/8U75vNtMmAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T22:22:26.962243Z"},"content_sha256":"ef86e048d0739c3be659576376f6dd2cbfacba42dab36305cfee4f3ef6a740ba","schema_version":"1.0","event_id":"sha256:ef86e048d0739c3be659576376f6dd2cbfacba42dab36305cfee4f3ef6a740ba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:4RYCGJP3P4CCQWBUWA3L22MQN5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Path Planning with Divergence-Based Distance Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Craig Gotsman, Kai Hormann, Renjie Chen","submitted_at":"2017-08-09T13:57:38Z","abstract_excerpt":"Distance functions between points in a domain are sometimes used to automatically plan a gradient-descent path towards a given target point in the domain, avoiding obstacles that may be present. A key requirement from such distance functions is the absence of spurious local minima, which may foil such an approach, and this has led to the common use of harmonic potential functions. Based on the planar Laplace operator, the potential function guarantees the absence of spurious minima, but is well known to be slow to numerically compute and prone to numerical precision issues. To alleviate the fi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.02845","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":"2026-05-18T00:38:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4rkGghsCUrPI+K5UsduiYliHYeeX3r8dj0ob1KUBHeAQL6TS53ItmZm7v1YyQGJsqWED4TBvhrEcfgkhj4YKCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T22:22:26.962931Z"},"content_sha256":"3db013721c71326500d6cfe430b0aa6c9e9f2b73c7bec4809f77132f209013ab","schema_version":"1.0","event_id":"sha256:3db013721c71326500d6cfe430b0aa6c9e9f2b73c7bec4809f77132f209013ab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/bundle.json","state_url":"https://pith.science/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/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":"2026-06-04T22:22:26Z","links":{"resolver":"https://pith.science/pith/4RYCGJP3P4CCQWBUWA3L22MQN5","bundle":"https://pith.science/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/bundle.json","state":"https://pith.science/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4RYCGJP3P4CCQWBUWA3L22MQN5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:4RYCGJP3P4CCQWBUWA3L22MQN5","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":"4e4d7e98cfcd143bafd130c293fc91226350844600527ba4c82bd893af8bd420","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-09T13:57:38Z","title_canon_sha256":"41dfe47586c1f5c8221bec76d7d0a65f83bd4ade5eb51e25ab137547e27af1f9"},"schema_version":"1.0","source":{"id":"1708.02845","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.02845","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"arxiv_version","alias_value":"1708.02845v1","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.02845","created_at":"2026-05-18T00:38:19Z"},{"alias_kind":"pith_short_12","alias_value":"4RYCGJP3P4CC","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_16","alias_value":"4RYCGJP3P4CCQWBU","created_at":"2026-05-18T12:31:00Z"},{"alias_kind":"pith_short_8","alias_value":"4RYCGJP3","created_at":"2026-05-18T12:31:00Z"}],"graph_snapshots":[{"event_id":"sha256:3db013721c71326500d6cfe430b0aa6c9e9f2b73c7bec4809f77132f209013ab","target":"graph","created_at":"2026-05-18T00:38:19Z","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":"Distance functions between points in a domain are sometimes used to automatically plan a gradient-descent path towards a given target point in the domain, avoiding obstacles that may be present. A key requirement from such distance functions is the absence of spurious local minima, which may foil such an approach, and this has led to the common use of harmonic potential functions. Based on the planar Laplace operator, the potential function guarantees the absence of spurious minima, but is well known to be slow to numerically compute and prone to numerical precision issues. To alleviate the fi","authors_text":"Craig Gotsman, Kai Hormann, Renjie Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-09T13:57:38Z","title":"Path Planning with Divergence-Based Distance Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.02845","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:ef86e048d0739c3be659576376f6dd2cbfacba42dab36305cfee4f3ef6a740ba","target":"record","created_at":"2026-05-18T00:38:19Z","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":"4e4d7e98cfcd143bafd130c293fc91226350844600527ba4c82bd893af8bd420","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-09T13:57:38Z","title_canon_sha256":"41dfe47586c1f5c8221bec76d7d0a65f83bd4ade5eb51e25ab137547e27af1f9"},"schema_version":"1.0","source":{"id":"1708.02845","kind":"arxiv","version":1}},"canonical_sha256":"e4702325fb7f04285834b036bd69906f429c67be7d2ad7eafac93772ec5e1a9a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e4702325fb7f04285834b036bd69906f429c67be7d2ad7eafac93772ec5e1a9a","first_computed_at":"2026-05-18T00:38:19.362719Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:38:19.362719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a5OQhkFIceJ00oVq7nRsAj++6rEX7QkoRu/zvYMoDNE0wmewCOOAjXLZ0W3g6sARb46+ASx6cCOVQiQKi6l9DA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:38:19.363367Z","signed_message":"canonical_sha256_bytes"},"source_id":"1708.02845","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ef86e048d0739c3be659576376f6dd2cbfacba42dab36305cfee4f3ef6a740ba","sha256:3db013721c71326500d6cfe430b0aa6c9e9f2b73c7bec4809f77132f209013ab"],"state_sha256":"c577ce0c5ffdea34316426dc41fdaa9b1d936978fbc8cb5482379c7efd2bf449"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A3vtj8nUMp6F4ksFmxfPPl8hCHNUjGU34+8gaNU/Zy/RyJHaRKn58quCWdtwArVtkx+7MTWB/ix0eJEhTjCYBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T22:22:26.966477Z","bundle_sha256":"b396163ac44e4eb054074658b52d3267b35fcd28decc52e529d2a8efe0eb3b58"}}