{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:63GIMG2TA56JIQMAKNJPNAHIW7","short_pith_number":"pith:63GIMG2T","canonical_record":{"source":{"id":"1507.06980","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-24T19:59:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"54beaa2d3fef6d2e75e4cf9bf3448c720f6f59f97c818515201ff71dddc691d4","abstract_canon_sha256":"6ede7b3b977155b28937bb3f04d66457126d887b76ec67ba597c943fa81f9534"},"schema_version":"1.0"},"canonical_sha256":"f6cc861b53077c9441805352f680e8b7d5748e63a1c34e8e10b97eeb24e1727c","source":{"kind":"arxiv","id":"1507.06980","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1507.06980","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"arxiv_version","alias_value":"1507.06980v2","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1507.06980","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"pith_short_12","alias_value":"63GIMG2TA56J","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_16","alias_value":"63GIMG2TA56JIQMA","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_8","alias_value":"63GIMG2T","created_at":"2026-05-18T12:29:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:63GIMG2TA56JIQMAKNJPNAHIW7","target":"record","payload":{"canonical_record":{"source":{"id":"1507.06980","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-24T19:59:22Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"54beaa2d3fef6d2e75e4cf9bf3448c720f6f59f97c818515201ff71dddc691d4","abstract_canon_sha256":"6ede7b3b977155b28937bb3f04d66457126d887b76ec67ba597c943fa81f9534"},"schema_version":"1.0"},"canonical_sha256":"f6cc861b53077c9441805352f680e8b7d5748e63a1c34e8e10b97eeb24e1727c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:34:32.727438Z","signature_b64":"cY4GWTt7bsbivdyFgcd4ExGO22Yqw/tDOpM73ah9h1Ol9UbQRt5+COpSh9wr3joz3s3VYkw8kGPr8I2wpam9Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f6cc861b53077c9441805352f680e8b7d5748e63a1c34e8e10b97eeb24e1727c","last_reissued_at":"2026-05-18T01:34:32.726945Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:34:32.726945Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1507.06980","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:34:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZQY7aSavTHd3L8IBcSZKBhGn0GU44k1b2ggvSnm2QANvawf9V4qojbSyF0htuA1LXt1sYwjpsvORQ1OgkPjRDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T11:13:02.118920Z"},"content_sha256":"4c31ab97cbf4fc1bd98d280cc4b41b19c9514432ffc05a7ae053521f6a3ebadc","schema_version":"1.0","event_id":"sha256:4c31ab97cbf4fc1bd98d280cc4b41b19c9514432ffc05a7ae053521f6a3ebadc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:63GIMG2TA56JIQMAKNJPNAHIW7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Shortest Paths of Bounded Curvature for the Dubins Interval Problem","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"math.OC","authors_text":"David Casbeer, Eloy Garcia, Satyanarayana Manyam, Sivakumar Rathinam","submitted_at":"2015-07-24T19:59:22Z","abstract_excerpt":"The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals. We propose a new and a simple algorithm to this problem based on the minimum principle of Pontryagin."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1507.06980","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":""},"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":"2026-05-18T01:34:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2TiEeXuEnf0ElOY3V5bwC9M6J67LY1lfMn2rNQfliRYPV0TRofv2l5lkZD2VaK17voRfv2NCLUWq8mS600NtCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T11:13:02.119268Z"},"content_sha256":"32090e39995119df1cd5855aa80124d5b79b617e815d19f04863df8f916f3570","schema_version":"1.0","event_id":"sha256:32090e39995119df1cd5855aa80124d5b79b617e815d19f04863df8f916f3570"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/63GIMG2TA56JIQMAKNJPNAHIW7/bundle.json","state_url":"https://pith.science/pith/63GIMG2TA56JIQMAKNJPNAHIW7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/63GIMG2TA56JIQMAKNJPNAHIW7/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":"2026-06-02T11:13:02Z","links":{"resolver":"https://pith.science/pith/63GIMG2TA56JIQMAKNJPNAHIW7","bundle":"https://pith.science/pith/63GIMG2TA56JIQMAKNJPNAHIW7/bundle.json","state":"https://pith.science/pith/63GIMG2TA56JIQMAKNJPNAHIW7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/63GIMG2TA56JIQMAKNJPNAHIW7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:63GIMG2TA56JIQMAKNJPNAHIW7","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":"6ede7b3b977155b28937bb3f04d66457126d887b76ec67ba597c943fa81f9534","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-24T19:59:22Z","title_canon_sha256":"54beaa2d3fef6d2e75e4cf9bf3448c720f6f59f97c818515201ff71dddc691d4"},"schema_version":"1.0","source":{"id":"1507.06980","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1507.06980","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"arxiv_version","alias_value":"1507.06980v2","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1507.06980","created_at":"2026-05-18T01:34:32Z"},{"alias_kind":"pith_short_12","alias_value":"63GIMG2TA56J","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_16","alias_value":"63GIMG2TA56JIQMA","created_at":"2026-05-18T12:29:07Z"},{"alias_kind":"pith_short_8","alias_value":"63GIMG2T","created_at":"2026-05-18T12:29:07Z"}],"graph_snapshots":[{"event_id":"sha256:32090e39995119df1cd5855aa80124d5b79b617e815d19f04863df8f916f3570","target":"graph","created_at":"2026-05-18T01:34:32Z","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":"The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals. We propose a new and a simple algorithm to this problem based on the minimum principle of Pontryagin.","authors_text":"David Casbeer, Eloy Garcia, Satyanarayana Manyam, Sivakumar Rathinam","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-24T19:59:22Z","title":"Shortest Paths of Bounded Curvature for the Dubins Interval Problem"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1507.06980","kind":"arxiv","version":2},"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":"sha256:4c31ab97cbf4fc1bd98d280cc4b41b19c9514432ffc05a7ae053521f6a3ebadc","target":"record","created_at":"2026-05-18T01:34:32Z","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":"6ede7b3b977155b28937bb3f04d66457126d887b76ec67ba597c943fa81f9534","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-24T19:59:22Z","title_canon_sha256":"54beaa2d3fef6d2e75e4cf9bf3448c720f6f59f97c818515201ff71dddc691d4"},"schema_version":"1.0","source":{"id":"1507.06980","kind":"arxiv","version":2}},"canonical_sha256":"f6cc861b53077c9441805352f680e8b7d5748e63a1c34e8e10b97eeb24e1727c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f6cc861b53077c9441805352f680e8b7d5748e63a1c34e8e10b97eeb24e1727c","first_computed_at":"2026-05-18T01:34:32.726945Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:34:32.726945Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cY4GWTt7bsbivdyFgcd4ExGO22Yqw/tDOpM73ah9h1Ol9UbQRt5+COpSh9wr3joz3s3VYkw8kGPr8I2wpam9Dw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:34:32.727438Z","signed_message":"canonical_sha256_bytes"},"source_id":"1507.06980","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4c31ab97cbf4fc1bd98d280cc4b41b19c9514432ffc05a7ae053521f6a3ebadc","sha256:32090e39995119df1cd5855aa80124d5b79b617e815d19f04863df8f916f3570"],"state_sha256":"39a71f8a22f41eacf2111aeaa5727d00fcf67ea3f7abe30fc0d588df687a4a1a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nr6wf0aimec6g+6NTfwWRiKaOsGW2keJeS/fS57cWj+ZOjIvnOXvAfgXhCuRTVNglROvo2veB8vD86Qd3JW8CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T11:13:02.121354Z","bundle_sha256":"3480d0a6722bba517837166c6783665851621607b7becb24e4d12a8d8741061c"}}