{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5IQHY2DRAM66DPMTXVOY2WRCCQ","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":"10f581aff397c25d978faa7c51ec4772a6ad1bf547ae88392bedad4fdfc4710c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-08T12:02:49Z","title_canon_sha256":"94263cdfb4aebd386ed279fc963f32e1b977b965f9a2298f4c4f338fcc33103b"},"schema_version":"1.0","source":{"id":"1812.03304","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1812.03304","created_at":"2026-05-17T23:58:46Z"},{"alias_kind":"arxiv_version","alias_value":"1812.03304v1","created_at":"2026-05-17T23:58:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.03304","created_at":"2026-05-17T23:58:46Z"},{"alias_kind":"pith_short_12","alias_value":"5IQHY2DRAM66","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5IQHY2DRAM66DPMT","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5IQHY2DR","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:d56ad0f14383f1fa600e17c8082912c1627643df0b6bc0b4ae188efa52f8e651","target":"graph","created_at":"2026-05-17T23:58:46Z","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":"In this paper, a novel real-time acceleration-continuous path-constrained trajectory planning algorithm is proposed with an appealing built-in tradability mechanism between cruise motion and time-optimal motion. Different from existing approaches, the proposed approach smoothens time-optimal trajectories with bang-bang input structures to generate acceleration-continuous trajectories while preserving the completeness property. More importantly, a novel built-in tradability mechanism is proposed and embedded into the trajectory planning framework, so that the proportion of the cruise motion and","authors_text":"Peiyao Shen, Xuebo Zhang, Yongchun Fang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-08T12:02:49Z","title":"Real-time Acceleration-continuous Path-constrained Trajectory Planning With Built-in Tradability Between Cruise and Time-optimal Motions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.03304","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:b3fd12e32cf32acf84d529ecf89e5ce0cd255dedf64503a0341963218e5f58f9","target":"record","created_at":"2026-05-17T23:58:46Z","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":"10f581aff397c25d978faa7c51ec4772a6ad1bf547ae88392bedad4fdfc4710c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-12-08T12:02:49Z","title_canon_sha256":"94263cdfb4aebd386ed279fc963f32e1b977b965f9a2298f4c4f338fcc33103b"},"schema_version":"1.0","source":{"id":"1812.03304","kind":"arxiv","version":1}},"canonical_sha256":"ea207c6871033de1bd93bd5d8d5a22142f97d71a2a1d622b1755992e22cbcc6c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea207c6871033de1bd93bd5d8d5a22142f97d71a2a1d622b1755992e22cbcc6c","first_computed_at":"2026-05-17T23:58:46.600760Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:58:46.600760Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QjFMHOPgENlgqJDBBwG1ggvfI0j/kavUaoHs9vQcH2Eb4wwMnVZ7O2myfaOlgYcH0/9be8fyn8rhF6q+c50jBQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:58:46.601262Z","signed_message":"canonical_sha256_bytes"},"source_id":"1812.03304","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b3fd12e32cf32acf84d529ecf89e5ce0cd255dedf64503a0341963218e5f58f9","sha256:d56ad0f14383f1fa600e17c8082912c1627643df0b6bc0b4ae188efa52f8e651"],"state_sha256":"89e1a8b977e932ef9879bec58807d1a6cd712160236e0dd79e985ed018319a07"}