{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:4YD7TXX3KRFPF4KZAGK2LCJD4R","short_pith_number":"pith:4YD7TXX3","schema_version":"1.0","canonical_sha256":"e607f9defb544af2f1590195a58923e4676cd57d84c529497575ea0488899228","source":{"kind":"arxiv","id":"2406.07728","version":2},"attestation_state":"computed","paper":{"title":"Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Dimitra Panagou, Taekyung Kim","submitted_at":"2024-06-11T21:12:40Z","abstract_excerpt":"Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure safety, their effectiveness relies on the assumption that the robot has complete knowledge of its surroundings. In reality, robots often operate with restricted field-of-view and finite sensing range, which can lead to collisions with unknown obstacles if the planner is agnostic to these limitations. To address this issue, we introduce the Visibility-Aware RR"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2406.07728","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-06-11T21:12:40Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"99d07ce5829903446fceef1a3452892dbda56573385ddbb652acb11bd0e0d2bf","abstract_canon_sha256":"6a6a100dfc67eb65ac7a191287a9d3c0088e41429a7bd3a858dd1d865500d445"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:33:03.996046Z","signature_b64":"Jjj7K5PeS6bkRYk2kXoyDBj0E2uFNmxqUVovMHKK6CK+LOU3obOHf75V2uqPWtMtnHVgFKgZI9kc2i0RJLMsBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e607f9defb544af2f1590195a58923e4676cd57d84c529497575ea0488899228","last_reissued_at":"2026-07-05T10:33:03.995489Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:33:03.995489Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Dimitra Panagou, Taekyung Kim","submitted_at":"2024-06-11T21:12:40Z","abstract_excerpt":"Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure safety, their effectiveness relies on the assumption that the robot has complete knowledge of its surroundings. In reality, robots often operate with restricted field-of-view and finite sensing range, which can lead to collisions with unknown obstacles if the planner is agnostic to these limitations. To address this issue, we introduce the Visibility-Aware RR"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.07728","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2406.07728/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2406.07728","created_at":"2026-07-05T10:33:03.995552+00:00"},{"alias_kind":"arxiv_version","alias_value":"2406.07728v2","created_at":"2026-07-05T10:33:03.995552+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.07728","created_at":"2026-07-05T10:33:03.995552+00:00"},{"alias_kind":"pith_short_12","alias_value":"4YD7TXX3KRFP","created_at":"2026-07-05T10:33:03.995552+00:00"},{"alias_kind":"pith_short_16","alias_value":"4YD7TXX3KRFPF4KZ","created_at":"2026-07-05T10:33:03.995552+00:00"},{"alias_kind":"pith_short_8","alias_value":"4YD7TXX3","created_at":"2026-07-05T10:33:03.995552+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2604.14360","citing_title":"Digital Guardians: The Past and The Future of Cyber-Physical Resilience","ref_index":99,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R","json":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R.json","graph_json":"https://pith.science/api/pith-number/4YD7TXX3KRFPF4KZAGK2LCJD4R/graph.json","events_json":"https://pith.science/api/pith-number/4YD7TXX3KRFPF4KZAGK2LCJD4R/events.json","paper":"https://pith.science/paper/4YD7TXX3"},"agent_actions":{"view_html":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R","download_json":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R.json","view_paper":"https://pith.science/paper/4YD7TXX3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2406.07728&json=true","fetch_graph":"https://pith.science/api/pith-number/4YD7TXX3KRFPF4KZAGK2LCJD4R/graph.json","fetch_events":"https://pith.science/api/pith-number/4YD7TXX3KRFPF4KZAGK2LCJD4R/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R/action/storage_attestation","attest_author":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R/action/author_attestation","sign_citation":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R/action/citation_signature","submit_replication":"https://pith.science/pith/4YD7TXX3KRFPF4KZAGK2LCJD4R/action/replication_record"}},"created_at":"2026-07-05T10:33:03.995552+00:00","updated_at":"2026-07-05T10:33:03.995552+00:00"}