{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:5YRQJQ2FPSQNGWHI467T7BG5ZG","short_pith_number":"pith:5YRQJQ2F","canonical_record":{"source":{"id":"1805.09951","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-25T02:13:54Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"6072c5c97f5c9bd1ff63c8397cbce7ec0ffecfd4c60c7a4a1dd6587fd678ddab","abstract_canon_sha256":"f7ebfd343a3b4ac0bd6de2ce62da6e0425757e16fec15fb184037a6543358676"},"schema_version":"1.0"},"canonical_sha256":"ee2304c3457ca0d358e8e7bf3f84ddc9884a2574090d44fc386bdfc079ff0c5a","source":{"kind":"arxiv","id":"1805.09951","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.09951","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"arxiv_version","alias_value":"1805.09951v1","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.09951","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"pith_short_12","alias_value":"5YRQJQ2FPSQN","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5YRQJQ2FPSQNGWHI","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5YRQJQ2F","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:5YRQJQ2FPSQNGWHI467T7BG5ZG","target":"record","payload":{"canonical_record":{"source":{"id":"1805.09951","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-25T02:13:54Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"6072c5c97f5c9bd1ff63c8397cbce7ec0ffecfd4c60c7a4a1dd6587fd678ddab","abstract_canon_sha256":"f7ebfd343a3b4ac0bd6de2ce62da6e0425757e16fec15fb184037a6543358676"},"schema_version":"1.0"},"canonical_sha256":"ee2304c3457ca0d358e8e7bf3f84ddc9884a2574090d44fc386bdfc079ff0c5a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:14:58.702787Z","signature_b64":"KnOAnCNbmXgphoUeaNvppikmhMIzRV+CTklbOUGWAj7G35w2BoIx+0mfPTe3PY5/IM6S0zLLUf12n17teDT5AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ee2304c3457ca0d358e8e7bf3f84ddc9884a2574090d44fc386bdfc079ff0c5a","last_reissued_at":"2026-05-18T00:14:58.702207Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:14:58.702207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.09951","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":"2026-05-18T00:14:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5EOQMR+OuddsKY/BCuv2ZRt5O3fnhXYG7ThuB+XFwE+tysB+Ot1CHI79nsy9HYyBK7s5Rk1cA/dAgnzya2xrCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T19:56:17.884256Z"},"content_sha256":"777fb1eb606b983708b785ddb37cbf1d7fef9662ee10b689a4fcc842f7817cf8","schema_version":"1.0","event_id":"sha256:777fb1eb606b983708b785ddb37cbf1d7fef9662ee10b689a4fcc842f7817cf8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:5YRQJQ2FPSQNGWHI467T7BG5ZG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Data-Driven Approach for Autonomous Motion Planning and Control in Off-Road Driving Scenarios","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bingxin Zhang, Ella M. Atkins, Hossein Rastgoftar","submitted_at":"2018-05-25T02:13:54Z","abstract_excerpt":"This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface composition, and slope. Geographical information system (GIS) and National Centers for Environmental Information datasets are processed to provide this information for interactive planning and control system elements. A top-level global route planner (GRP) defines optimal waypoints using dynamic programming (DP). A local path planner (LPP) computes a desire"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.09951","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":"2026-05-18T00:14:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"41w+ZvJN2eYx0rOA9Hm8CWCMYtGYLkhJSxEwAeNKoUI10JyXW7lHKSVp9dAEVebOBQQNry7y1yNZOD+PHfV5Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T19:56:17.884988Z"},"content_sha256":"5644d329df41d92b4fe0b5733cf4e39440a1159c4b00bde8e777f23674041587","schema_version":"1.0","event_id":"sha256:5644d329df41d92b4fe0b5733cf4e39440a1159c4b00bde8e777f23674041587"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/bundle.json","state_url":"https://pith.science/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/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":"2026-06-06T19:56:17Z","links":{"resolver":"https://pith.science/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG","bundle":"https://pith.science/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/bundle.json","state":"https://pith.science/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5YRQJQ2FPSQNGWHI467T7BG5ZG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5YRQJQ2FPSQNGWHI467T7BG5ZG","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":"f7ebfd343a3b4ac0bd6de2ce62da6e0425757e16fec15fb184037a6543358676","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-25T02:13:54Z","title_canon_sha256":"6072c5c97f5c9bd1ff63c8397cbce7ec0ffecfd4c60c7a4a1dd6587fd678ddab"},"schema_version":"1.0","source":{"id":"1805.09951","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.09951","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"arxiv_version","alias_value":"1805.09951v1","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.09951","created_at":"2026-05-18T00:14:58Z"},{"alias_kind":"pith_short_12","alias_value":"5YRQJQ2FPSQN","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5YRQJQ2FPSQNGWHI","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5YRQJQ2F","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:5644d329df41d92b4fe0b5733cf4e39440a1159c4b00bde8e777f23674041587","target":"graph","created_at":"2026-05-18T00:14:58Z","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":"This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface composition, and slope. Geographical information system (GIS) and National Centers for Environmental Information datasets are processed to provide this information for interactive planning and control system elements. A top-level global route planner (GRP) defines optimal waypoints using dynamic programming (DP). A local path planner (LPP) computes a desire","authors_text":"Bingxin Zhang, Ella M. Atkins, Hossein Rastgoftar","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-25T02:13:54Z","title":"A Data-Driven Approach for Autonomous Motion Planning and Control in Off-Road Driving Scenarios"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.09951","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":"sha256:777fb1eb606b983708b785ddb37cbf1d7fef9662ee10b689a4fcc842f7817cf8","target":"record","created_at":"2026-05-18T00:14:58Z","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":"f7ebfd343a3b4ac0bd6de2ce62da6e0425757e16fec15fb184037a6543358676","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-25T02:13:54Z","title_canon_sha256":"6072c5c97f5c9bd1ff63c8397cbce7ec0ffecfd4c60c7a4a1dd6587fd678ddab"},"schema_version":"1.0","source":{"id":"1805.09951","kind":"arxiv","version":1}},"canonical_sha256":"ee2304c3457ca0d358e8e7bf3f84ddc9884a2574090d44fc386bdfc079ff0c5a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee2304c3457ca0d358e8e7bf3f84ddc9884a2574090d44fc386bdfc079ff0c5a","first_computed_at":"2026-05-18T00:14:58.702207Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:14:58.702207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KnOAnCNbmXgphoUeaNvppikmhMIzRV+CTklbOUGWAj7G35w2BoIx+0mfPTe3PY5/IM6S0zLLUf12n17teDT5AA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:14:58.702787Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.09951","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:777fb1eb606b983708b785ddb37cbf1d7fef9662ee10b689a4fcc842f7817cf8","sha256:5644d329df41d92b4fe0b5733cf4e39440a1159c4b00bde8e777f23674041587"],"state_sha256":"9a2926e2b097a50d317158da1f67609b3a2f63feb0132b8384937e34405fb1da"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"d0hOjlyyyXErRh111G/VbEtiSEBO7C+5XTDpVkiNc8UJmVxFhV9aeCdWixOzZiPGJSdFscb6BT3spOph2fEoBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T19:56:17.888857Z","bundle_sha256":"d4618782a822b9f34cf9a61f3b14b38a02c022267bd8f6cd3bc3f5bafa3a4f51"}}