{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:AQEGM5HTQU34EJORXUS7CF5YDI","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":"74cfef2c0a56801d46b7ca578f2dbd836cb47e885fcd7b7f91ffa71e01560d94","cross_cats_sorted":["cs.CG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-08T11:22:50Z","title_canon_sha256":"b8634d0dcb5308225d3590f91c228df8a6e9370aa37f0a64f939c0af7610a9ee"},"schema_version":"1.0","source":{"id":"2504.05921","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.05921","created_at":"2026-07-05T11:53:00Z"},{"alias_kind":"arxiv_version","alias_value":"2504.05921v2","created_at":"2026-07-05T11:53:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.05921","created_at":"2026-07-05T11:53:00Z"},{"alias_kind":"pith_short_12","alias_value":"AQEGM5HTQU34","created_at":"2026-07-05T11:53:00Z"},{"alias_kind":"pith_short_16","alias_value":"AQEGM5HTQU34EJOR","created_at":"2026-07-05T11:53:00Z"},{"alias_kind":"pith_short_8","alias_value":"AQEGM5HT","created_at":"2026-07-05T11:53:00Z"}],"graph_snapshots":[{"event_id":"sha256:9340563f81c114c2e133372684a4b2fbb500f89c6eeaafd4395459f1b30146c5","target":"graph","created_at":"2026-07-05T11:53:00Z","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/2504.05921/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of optimal paths, resulting in a new partitioning of the state space and a further reduction in the minimal set of viable paths. We revisit and reimplement classic methodologies from the literature, which lack contemporary open-source implementations, to serve as benchmarks for evaluating our method. Additionally, we address the under-specified Reeds-Shepp planning problem where the final orientation is unspecified. We pe","authors_text":"Ibrahim Ibrahim, Jan Swevers, Wilm Decr\\'e","cross_cats":["cs.CG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-08T11:22:50Z","title":"Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.05921","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":"sha256:230b94d0a213276a107db9a3cc331cfebebb49ccc03d36c0556c024d9da5eab8","target":"record","created_at":"2026-07-05T11:53:00Z","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":"74cfef2c0a56801d46b7ca578f2dbd836cb47e885fcd7b7f91ffa71e01560d94","cross_cats_sorted":["cs.CG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-08T11:22:50Z","title_canon_sha256":"b8634d0dcb5308225d3590f91c228df8a6e9370aa37f0a64f939c0af7610a9ee"},"schema_version":"1.0","source":{"id":"2504.05921","kind":"arxiv","version":2}},"canonical_sha256":"04086674f38537c225d1bd25f117b81a21d2abcc49300f51e531a3e47a1f9a76","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"04086674f38537c225d1bd25f117b81a21d2abcc49300f51e531a3e47a1f9a76","first_computed_at":"2026-07-05T11:53:00.989538Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:53:00.989538Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MhhcyNnt8Wkau9WuET8r87wyrfnAGZt3Kl6gMwMwQ/mPd8nsW6b3jRMOxodf7cDsPSDhLu67IaU8SPMEMn4HDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:53:00.990026Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.05921","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:230b94d0a213276a107db9a3cc331cfebebb49ccc03d36c0556c024d9da5eab8","sha256:9340563f81c114c2e133372684a4b2fbb500f89c6eeaafd4395459f1b30146c5"],"state_sha256":"3164e879ce0dba3a323c8757b43ac44f8e6a39c8795c1c73100fc1d2174c8a49"}