{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:73HHCWDMYB2UDEDJG37C4VI3GZ","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":"a4aa92ee86f6a214a220c434f44ded6241926b627b7d57141ac5363cb8c338a8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T01:53:06Z","title_canon_sha256":"6046ba8791c9916d47172f6dfc9c62f2d3a2aec97b8b0b014ecccd242c5f4df2"},"schema_version":"1.0","source":{"id":"2403.01674","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.01674","created_at":"2026-07-05T07:51:50Z"},{"alias_kind":"arxiv_version","alias_value":"2403.01674v1","created_at":"2026-07-05T07:51:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.01674","created_at":"2026-07-05T07:51:50Z"},{"alias_kind":"pith_short_12","alias_value":"73HHCWDMYB2U","created_at":"2026-07-05T07:51:50Z"},{"alias_kind":"pith_short_16","alias_value":"73HHCWDMYB2UDEDJ","created_at":"2026-07-05T07:51:50Z"},{"alias_kind":"pith_short_8","alias_value":"73HHCWDM","created_at":"2026-07-05T07:51:50Z"}],"graph_snapshots":[{"event_id":"sha256:c718f083835847b0a0ce72a0fccfa3e7d86eca5e3513882facaada62d553085d","target":"graph","created_at":"2026-07-05T07:51:50Z","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/2403.01674/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes an informative trajectory planning approach, namely, \\textit{adaptive particle filter tree with sigma point-based mutual information reward approximation} (ASPIRe), for mobile target search and tracking (SAT) in cluttered environments with limited sensing field of view. We develop a novel sigma point-based approximation to accurately estimate mutual information (MI) for general, non-Gaussian distributions utilizing particle representation of the belief state, while simultaneously maintaining high computational efficiency. Building upon the MI approximation, we develop the A","authors_text":"Chang Liu, Han Gao, Hangxin Liu, Ji Ma, Kangjie Zhou, Pengying Wu, Yao Su","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T01:53:06Z","title":"ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.01674","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":"sha256:75ca153c47bb375a51cee8481c308aa6b643ba14dc51f71f3c4ee779dc3059eb","target":"record","created_at":"2026-07-05T07:51:50Z","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":"a4aa92ee86f6a214a220c434f44ded6241926b627b7d57141ac5363cb8c338a8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-03-04T01:53:06Z","title_canon_sha256":"6046ba8791c9916d47172f6dfc9c62f2d3a2aec97b8b0b014ecccd242c5f4df2"},"schema_version":"1.0","source":{"id":"2403.01674","kind":"arxiv","version":1}},"canonical_sha256":"fece71586cc07541906936fe2e551b36587247f2a1a18efd942d3587114ddf46","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fece71586cc07541906936fe2e551b36587247f2a1a18efd942d3587114ddf46","first_computed_at":"2026-07-05T07:51:50.403927Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:51:50.403927Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"36wVbgNOGsyO8lv7nil/PD7MEjMhYlzeWRtPwTnv1kylJHvnHQNLUPBXGtv8NgsEJr1Dv9q8AHaZ9kwfRSZtDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:51:50.404283Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.01674","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:75ca153c47bb375a51cee8481c308aa6b643ba14dc51f71f3c4ee779dc3059eb","sha256:c718f083835847b0a0ce72a0fccfa3e7d86eca5e3513882facaada62d553085d"],"state_sha256":"d2f401108cea14fafac8f7ed70be3acaab02d9347b548f966974311af41e8a2e"}