{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:AFF7EOMBOL76RZ364S4MOQYPTT","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":"6abab925e3056a961a72668a80387c42855920e4b5ccb5004ebae320dd22951b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T18:34:08Z","title_canon_sha256":"73f93f7c63dd8c2392a8a1ecd30d98a2d8385bdc2a146ab1ef459a622b689998"},"schema_version":"1.0","source":{"id":"2503.07762","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.07762","created_at":"2026-07-05T11:07:21Z"},{"alias_kind":"arxiv_version","alias_value":"2503.07762v3","created_at":"2026-07-05T11:07:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.07762","created_at":"2026-07-05T11:07:21Z"},{"alias_kind":"pith_short_12","alias_value":"AFF7EOMBOL76","created_at":"2026-07-05T11:07:21Z"},{"alias_kind":"pith_short_16","alias_value":"AFF7EOMBOL76RZ36","created_at":"2026-07-05T11:07:21Z"},{"alias_kind":"pith_short_8","alias_value":"AFF7EOMB","created_at":"2026-07-05T11:07:21Z"}],"graph_snapshots":[{"event_id":"sha256:0b636dcb51219bf9177051ca391eb24b17b210943781a86b9a53124f0830fef6","target":"graph","created_at":"2026-07-05T11:07:21Z","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/2503.07762/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a novel, multi-layered planning approach for computing paths that satisfy both kinodynamic and spatiotemporal constraints. Our three-part framework first establishes potential sequences to meet spatial constraints, using them to calculate a geometric lead path. This path then guides an asymptotically optimal sampling-based kinodynamic planner, which minimizes an STL-robustness cost to jointly satisfy spatiotemporal and kinodynamic constraints. In our experiments, we test our method with a velocity-controlled Ackerman-car model and demonstrate significant efficiency gains compared to","authors_text":"Abhiroop Ajith, Constantinos Chamzas, Jeel Chatrola, Kevin Leahy","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T18:34:08Z","title":"Multi-layer Motion Planning with Kinodynamic and Spatio-Temporal Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.07762","kind":"arxiv","version":3},"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":"sha256:95dcd8488469b88382c49af9fdfde11997072091ae400ad7632661f0f914aa06","target":"record","created_at":"2026-07-05T11:07:21Z","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":"6abab925e3056a961a72668a80387c42855920e4b5ccb5004ebae320dd22951b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T18:34:08Z","title_canon_sha256":"73f93f7c63dd8c2392a8a1ecd30d98a2d8385bdc2a146ab1ef459a622b689998"},"schema_version":"1.0","source":{"id":"2503.07762","kind":"arxiv","version":3}},"canonical_sha256":"014bf2398172ffe8e77ee4b8c7430f9cd404a74f2ceaf425e7d06f9519778d8b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"014bf2398172ffe8e77ee4b8c7430f9cd404a74f2ceaf425e7d06f9519778d8b","first_computed_at":"2026-07-05T11:07:21.619450Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:07:21.619450Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3UGJrONL3xtoY7I3GC/nm4Ble8dvNmtWqz8aEor8/mgtG5ntqNZwk8mntQeo2HP9OST9WeX6irvdhvh9EQNGCA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:07:21.620126Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.07762","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:95dcd8488469b88382c49af9fdfde11997072091ae400ad7632661f0f914aa06","sha256:0b636dcb51219bf9177051ca391eb24b17b210943781a86b9a53124f0830fef6"],"state_sha256":"b67fd0b98f2170eb3b004de026ccc78af2b611ec6f3319cab2778059f1bf645e"}