{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:B26HBV4OYCEIWY7GO3ZDYQH3XH","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":"b419ef9d5433a493fc0730e6a995e41c18960e8d938f89dd69dca6a238fc501c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-10T14:45:16Z","title_canon_sha256":"30711c0419c6a5491e5782033d9bab4faf2b3b8abe5c78036ed62a6ea0315aee"},"schema_version":"1.0","source":{"id":"2102.05466","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2102.05466","created_at":"2026-07-05T02:14:18Z"},{"alias_kind":"arxiv_version","alias_value":"2102.05466v1","created_at":"2026-07-05T02:14:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.05466","created_at":"2026-07-05T02:14:18Z"},{"alias_kind":"pith_short_12","alias_value":"B26HBV4OYCEI","created_at":"2026-07-05T02:14:18Z"},{"alias_kind":"pith_short_16","alias_value":"B26HBV4OYCEIWY7G","created_at":"2026-07-05T02:14:18Z"},{"alias_kind":"pith_short_8","alias_value":"B26HBV4O","created_at":"2026-07-05T02:14:18Z"}],"graph_snapshots":[{"event_id":"sha256:986378f2325e694172007b80bd15cbe650207cb563bd8199d9148e4cce9fd5cc","target":"graph","created_at":"2026-07-05T02:14:18Z","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/2102.05466/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan motions for a mobile robot with range sensors in belief space. We address two limitations that prevent applications of iLQG to the considered robotic system. First, iLQG assumes a differentiable measurement model, which is not true for range sensors. We show that iLQG only requires the differentiability of the belief dynamics. We propose to use a derivative-free filter to approximate the belief dynamics, which does not require explicit differentiability of the measurement model. Second, informative measurements from a rang","authors_text":"Ke Sun, Vijay Kumar","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-10T14:45:16Z","title":"Belief Space Planning for Mobile Robots with Range Sensors using iLQG"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.05466","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:c76afa68dba62f9873f3e9a37cc7590414e60561edf5e786ec10816d4f24b4c0","target":"record","created_at":"2026-07-05T02:14:18Z","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":"b419ef9d5433a493fc0730e6a995e41c18960e8d938f89dd69dca6a238fc501c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-02-10T14:45:16Z","title_canon_sha256":"30711c0419c6a5491e5782033d9bab4faf2b3b8abe5c78036ed62a6ea0315aee"},"schema_version":"1.0","source":{"id":"2102.05466","kind":"arxiv","version":1}},"canonical_sha256":"0ebc70d78ec0888b63e676f23c40fbb9d1d7b206cd8e3d298e47e77ed23d554a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0ebc70d78ec0888b63e676f23c40fbb9d1d7b206cd8e3d298e47e77ed23d554a","first_computed_at":"2026-07-05T02:14:18.966597Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:14:18.966597Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Kg48s5VBqGoBMVH2itvBzlwLDsVNrcJhWIkDUtsLiyID9bAOibSkVvoxHDDhfBGvDhVneH8AHuZJbW0TiThDAw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:14:18.967035Z","signed_message":"canonical_sha256_bytes"},"source_id":"2102.05466","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c76afa68dba62f9873f3e9a37cc7590414e60561edf5e786ec10816d4f24b4c0","sha256:986378f2325e694172007b80bd15cbe650207cb563bd8199d9148e4cce9fd5cc"],"state_sha256":"246fbdfeca93908f26c28d8fc75c34264927ff6a3abc1b9fcfc429f982a14996"}