{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:ARZHHJ6NA73WJCLLX4KWVN2TBV","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":"c417b68a424ce5f9b1920450da7dc735bd1425fa8620628185b73f28c8044635","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-01T02:43:59Z","title_canon_sha256":"6946119807af2110512ebf6b18e74f2e983f1e5ef8ea36de41eb98bac13acefa"},"schema_version":"1.0","source":{"id":"1611.00111","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.00111","created_at":"2026-05-18T00:49:31Z"},{"alias_kind":"arxiv_version","alias_value":"1611.00111v2","created_at":"2026-05-18T00:49:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.00111","created_at":"2026-05-18T00:49:31Z"},{"alias_kind":"pith_short_12","alias_value":"ARZHHJ6NA73W","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"ARZHHJ6NA73WJCLL","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"ARZHHJ6N","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:50f2c3527cfc3f1e9c3aeb5f4b864022caab72ac6ca6d166cef0873e150e5905","target":"graph","created_at":"2026-05-18T00:49:31Z","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":"We consider the problem of computing shortest paths in a dense motion-planning roadmap $\\mathcal{G}$. We assume that~$n$, the number of vertices of $\\mathcal{G}$, is very large. Thus, using any path-planning algorithm that directly searches $\\mathcal{G}$, running in $O(V\\textrm{log}V + E) \\approx O(n^2)$ time, becomes unacceptably expensive. We are therefore interested in anytime search to obtain successively shorter feasible paths and converge to the shortest path in $\\mathcal{G}$. Our key insight is to provide existing path-planning algorithms with a sequence of increasingly dense subgraphs ","authors_text":"Oren Salzman, Sanjiban Choudhury, Shushman Choudhury, Siddhartha S. Srinivasa","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-01T02:43:59Z","title":"Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.00111","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:aab0d9f11de65034761703e2758c8b0fa69354eca0f2c2ec78b0d62a8c1ca586","target":"record","created_at":"2026-05-18T00:49:31Z","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":"c417b68a424ce5f9b1920450da7dc735bd1425fa8620628185b73f28c8044635","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-01T02:43:59Z","title_canon_sha256":"6946119807af2110512ebf6b18e74f2e983f1e5ef8ea36de41eb98bac13acefa"},"schema_version":"1.0","source":{"id":"1611.00111","kind":"arxiv","version":2}},"canonical_sha256":"047273a7cd07f764896bbf156ab7530d7fc8a9a03d1e4048168e8bd867894c80","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"047273a7cd07f764896bbf156ab7530d7fc8a9a03d1e4048168e8bd867894c80","first_computed_at":"2026-05-18T00:49:31.890602Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:49:31.890602Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TiEpvNDykb0XOBbffaZQuSl30Le1DuGSP2gHSNzOMUtu2Z1ZMTFe6SPk082fDsx2SV8ZfXW0plDA3dfI9VK6Bw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:49:31.891163Z","signed_message":"canonical_sha256_bytes"},"source_id":"1611.00111","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aab0d9f11de65034761703e2758c8b0fa69354eca0f2c2ec78b0d62a8c1ca586","sha256:50f2c3527cfc3f1e9c3aeb5f4b864022caab72ac6ca6d166cef0873e150e5905"],"state_sha256":"7ee1d73a4cfa3518411913d1dd23ccea488b06c5d0cd8c809dd64a386efb841f"}