{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:BCLPUM3KCZP3SMB44ORO4LFM7C","short_pith_number":"pith:BCLPUM3K","schema_version":"1.0","canonical_sha256":"0896fa336a165fb9303ce3a2ee2cacf880d5a8922d4dd6d1633a650d2d832560","source":{"kind":"arxiv","id":"1605.00335","version":4},"attestation_state":"computed","paper":{"title":"Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gamini Dissanayake, Jaime Valls Miro, Maani Ghaffari Jadidi","submitted_at":"2016-05-02T02:14:18Z","abstract_excerpt":"Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores structural correlations present in the environment. We develop a Gaussian Processes (GPs) occupancy mapping technique that is computationally tractable for online map building due to its incremental formulation and provides a continuous model of uncertainty over the map spatial coordinates. The standard way to represent geometric frontiers extracted from occupancy m"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1605.00335","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-05-02T02:14:18Z","cross_cats_sorted":[],"title_canon_sha256":"bd8bf382983c50f8f1a700ff575e7fe3922e4da026ec7cb8c2934925f667bf52","abstract_canon_sha256":"76ce106539021f359fed18c0d939db9e63b3a859ea17a19ffeecdcf47323a03e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:45:47.133209Z","signature_b64":"QL4whK15tQxrqqR+dyMoOWvPv5tFwjujA42MNVV8v2OBSOvRZubin34llI1twIeyOVNDJ6r/lQ8YKxCc0bd1Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0896fa336a165fb9303ce3a2ee2cacf880d5a8922d4dd6d1633a650d2d832560","last_reissued_at":"2026-05-17T23:45:47.132584Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:45:47.132584Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Gamini Dissanayake, Jaime Valls Miro, Maani Ghaffari Jadidi","submitted_at":"2016-05-02T02:14:18Z","abstract_excerpt":"Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores structural correlations present in the environment. We develop a Gaussian Processes (GPs) occupancy mapping technique that is computationally tractable for online map building due to its incremental formulation and provides a continuous model of uncertainty over the map spatial coordinates. The standard way to represent geometric frontiers extracted from occupancy m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.00335","kind":"arxiv","version":4},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"1605.00335","created_at":"2026-05-17T23:45:47.132678+00:00"},{"alias_kind":"arxiv_version","alias_value":"1605.00335v4","created_at":"2026-05-17T23:45:47.132678+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1605.00335","created_at":"2026-05-17T23:45:47.132678+00:00"},{"alias_kind":"pith_short_12","alias_value":"BCLPUM3KCZP3","created_at":"2026-05-18T12:30:07.202191+00:00"},{"alias_kind":"pith_short_16","alias_value":"BCLPUM3KCZP3SMB4","created_at":"2026-05-18T12:30:07.202191+00:00"},{"alias_kind":"pith_short_8","alias_value":"BCLPUM3K","created_at":"2026-05-18T12:30:07.202191+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C","json":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C.json","graph_json":"https://pith.science/api/pith-number/BCLPUM3KCZP3SMB44ORO4LFM7C/graph.json","events_json":"https://pith.science/api/pith-number/BCLPUM3KCZP3SMB44ORO4LFM7C/events.json","paper":"https://pith.science/paper/BCLPUM3K"},"agent_actions":{"view_html":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C","download_json":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C.json","view_paper":"https://pith.science/paper/BCLPUM3K","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1605.00335&json=true","fetch_graph":"https://pith.science/api/pith-number/BCLPUM3KCZP3SMB44ORO4LFM7C/graph.json","fetch_events":"https://pith.science/api/pith-number/BCLPUM3KCZP3SMB44ORO4LFM7C/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C/action/timestamp_anchor","attest_storage":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C/action/storage_attestation","attest_author":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C/action/author_attestation","sign_citation":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C/action/citation_signature","submit_replication":"https://pith.science/pith/BCLPUM3KCZP3SMB44ORO4LFM7C/action/replication_record"}},"created_at":"2026-05-17T23:45:47.132678+00:00","updated_at":"2026-05-17T23:45:47.132678+00:00"}