{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:5GYUQFT5ZGEWTDDHZIYQDFSBRC","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":"8cf3612e74fd80b5c54e7cf6583e9ff3bf75cfbd81048b56bc39d39e3466082a","cross_cats_sorted":["cs.HC","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T16:42:14Z","title_canon_sha256":"2621dcdf177e16d806e2d161fc126d25782bd9b7b9199a69100bd2d35630d16e"},"schema_version":"1.0","source":{"id":"2011.05228","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.05228","created_at":"2026-07-05T02:54:29Z"},{"alias_kind":"arxiv_version","alias_value":"2011.05228v1","created_at":"2026-07-05T02:54:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.05228","created_at":"2026-07-05T02:54:29Z"},{"alias_kind":"pith_short_12","alias_value":"5GYUQFT5ZGEW","created_at":"2026-07-05T02:54:29Z"},{"alias_kind":"pith_short_16","alias_value":"5GYUQFT5ZGEWTDDH","created_at":"2026-07-05T02:54:29Z"},{"alias_kind":"pith_short_8","alias_value":"5GYUQFT5","created_at":"2026-07-05T02:54:29Z"}],"graph_snapshots":[{"event_id":"sha256:44ffe75585e7f7ecb3515de37c3cf8a1b3346eab2e6f5bb1cd54643802abae9a","target":"graph","created_at":"2026-07-05T02:54:29Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2011.05228/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which blends the commands from a VFH+ obstacle avoidance navigation module with the teleoperation commands provided by an operator via a joypad. The presented approach offers several advantages such as flexibility allowing for a straightforward adaptation of the controller's behaviour and easy integration with variable autonomy systems; as well as the ability to cope w","authors_text":"Georgios-Theofanis Epsimos, Grigoris Nikolaou, Manolis Chiou, Pantelis Pappas, Rustam Stolkin","cross_cats":["cs.HC","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T16:42:14Z","title":"VFH+ based shared control for remotely operated mobile robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.05228","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":"sha256:05e7133ae6ac6f654fcaa606fbe9a0d609756ac198b8a934c2caef1cfcefbb6f","target":"record","created_at":"2026-07-05T02:54:29Z","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":"8cf3612e74fd80b5c54e7cf6583e9ff3bf75cfbd81048b56bc39d39e3466082a","cross_cats_sorted":["cs.HC","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-10T16:42:14Z","title_canon_sha256":"2621dcdf177e16d806e2d161fc126d25782bd9b7b9199a69100bd2d35630d16e"},"schema_version":"1.0","source":{"id":"2011.05228","kind":"arxiv","version":1}},"canonical_sha256":"e9b148167dc989698c67ca3101964188a915616f419a0c8afd1f480b395df0d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e9b148167dc989698c67ca3101964188a915616f419a0c8afd1f480b395df0d9","first_computed_at":"2026-07-05T02:54:29.475415Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:54:29.475415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/2JaDtlbFLgxJr7+IZAQ2rITzT2+om83WllKXyGzTjqAtU6YKbS/UIjoIKCHjxNzVHGebI5+KoQ44JX7FgXtDA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:54:29.475894Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.05228","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05e7133ae6ac6f654fcaa606fbe9a0d609756ac198b8a934c2caef1cfcefbb6f","sha256:44ffe75585e7f7ecb3515de37c3cf8a1b3346eab2e6f5bb1cd54643802abae9a"],"state_sha256":"abd8854d0fc450f158dadd63ff377100b19bda15facf5247d4078fc72c471c75"}