{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:7PEFUNM4SOZWO6JZ374DPI5NUX","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":"c6686c1cf1a65cca806fca7403c17fb31689b555d4a268b8bd08a86e8bfa1295","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-01T00:54:35Z","title_canon_sha256":"5f4e193ded977dfc4ef99710b92cdf647cf3525863a2286e9b50e34c4f15f685"},"schema_version":"1.0","source":{"id":"2306.00264","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.00264","created_at":"2026-07-05T06:16:24Z"},{"alias_kind":"arxiv_version","alias_value":"2306.00264v1","created_at":"2026-07-05T06:16:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.00264","created_at":"2026-07-05T06:16:24Z"},{"alias_kind":"pith_short_12","alias_value":"7PEFUNM4SOZW","created_at":"2026-07-05T06:16:24Z"},{"alias_kind":"pith_short_16","alias_value":"7PEFUNM4SOZWO6JZ","created_at":"2026-07-05T06:16:24Z"},{"alias_kind":"pith_short_8","alias_value":"7PEFUNM4","created_at":"2026-07-05T06:16:24Z"}],"graph_snapshots":[{"event_id":"sha256:8a0a57545f5184f0b8460b38145e23043f3f5855f7f64aaf17e45ec1cb505955","target":"graph","created_at":"2026-07-05T06:16:24Z","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/2306.00264/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we consider the motion planning problem in Gaussian belief space for minimum sensing navigation. Despite the extensive use of sampling-based algorithms and their rigorous analysis in the deterministic setting, there has been little formal analysis of the quality of their solutions returned by sampling algorithms in Gaussian belief space. This paper aims to address this lack of research by examining the asymptotic behavior of the cost of solutions obtained from Gaussian belief space based sampling algorithms as the number of samples increases. To that end, we propose a sampling b","authors_text":"Ali Reza Pedram, Takashi Tanaka, Vrushabh Zinage","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-01T00:54:35Z","title":"Optimal Sampling-based Motion Planning in Gaussian Belief Space for Minimum Sensing Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.00264","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":"sha256:46ee423c250f98306ae95eabdb6fe95a70eb624135d3121d726c0a45c60eed02","target":"record","created_at":"2026-07-05T06:16:24Z","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":"c6686c1cf1a65cca806fca7403c17fb31689b555d4a268b8bd08a86e8bfa1295","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-06-01T00:54:35Z","title_canon_sha256":"5f4e193ded977dfc4ef99710b92cdf647cf3525863a2286e9b50e34c4f15f685"},"schema_version":"1.0","source":{"id":"2306.00264","kind":"arxiv","version":1}},"canonical_sha256":"fbc85a359c93b3677939dff837a3ada5f52c4b5e6d79c5239394fce22c7c5720","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fbc85a359c93b3677939dff837a3ada5f52c4b5e6d79c5239394fce22c7c5720","first_computed_at":"2026-07-05T06:16:24.218360Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:16:24.218360Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CGx0eTmO96iS4GYC/Tzp6x8UgMe7glSDxVHum6bp67oydPO8brYNyYy+AdyBWRKaKvhzVmAG2/jgKu5y4E3LBA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:16:24.218795Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.00264","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:46ee423c250f98306ae95eabdb6fe95a70eb624135d3121d726c0a45c60eed02","sha256:8a0a57545f5184f0b8460b38145e23043f3f5855f7f64aaf17e45ec1cb505955"],"state_sha256":"163dce2c686f0410bd271c8daccfa852f95fd9cfcdcd71dae483c1630c0f8691"}