{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:BNZPH2Z2XXRR5DLMPMN3AQUEEZ","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":"b143e394b3a0365a0c0e2cab747279e5c0d59a7220cf8453e6c60ab089aba327","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-20T08:29:49Z","title_canon_sha256":"26cd1f02299150dab0c281c19dff64901a8726acfbc1bf4da677c9a4af7d5c27"},"schema_version":"1.0","source":{"id":"2208.09635","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.09635","created_at":"2026-07-05T04:50:20Z"},{"alias_kind":"arxiv_version","alias_value":"2208.09635v1","created_at":"2026-07-05T04:50:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.09635","created_at":"2026-07-05T04:50:20Z"},{"alias_kind":"pith_short_12","alias_value":"BNZPH2Z2XXRR","created_at":"2026-07-05T04:50:20Z"},{"alias_kind":"pith_short_16","alias_value":"BNZPH2Z2XXRR5DLM","created_at":"2026-07-05T04:50:20Z"},{"alias_kind":"pith_short_8","alias_value":"BNZPH2Z2","created_at":"2026-07-05T04:50:20Z"}],"graph_snapshots":[{"event_id":"sha256:1c1e6d0cd83fd8b97ed7e7ea170b3a9044462e975a979c01c94a96c4b3708f31","target":"graph","created_at":"2026-07-05T04:50:20Z","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/2208.09635/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation transformation in the polygonal workspace are investigated in this work as well as its capability to provide a solution to the navigation problem. %The properties of the conformal navigation transformation are investigated, which contribute to the solution of the robot navigation problem in complex polygonal environments. %which facilitates the navigation o","authors_text":"Jianchang Liu, Li Fan","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-20T08:29:49Z","title":"Mobile Robot Navigation in Complex Polygonal Workspaces Using Conformal Navigation Transformations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.09635","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:a46589b4c66d41fe397a20785817efe81f47fe7b19616bb2ab8d9834a1f3ae3e","target":"record","created_at":"2026-07-05T04:50:20Z","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":"b143e394b3a0365a0c0e2cab747279e5c0d59a7220cf8453e6c60ab089aba327","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-20T08:29:49Z","title_canon_sha256":"26cd1f02299150dab0c281c19dff64901a8726acfbc1bf4da677c9a4af7d5c27"},"schema_version":"1.0","source":{"id":"2208.09635","kind":"arxiv","version":1}},"canonical_sha256":"0b72f3eb3abde31e8d6c7b1bb04284267966a1e751024af355faf72f50ed21bb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0b72f3eb3abde31e8d6c7b1bb04284267966a1e751024af355faf72f50ed21bb","first_computed_at":"2026-07-05T04:50:20.300620Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:50:20.300620Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FuMwVjYkaMKFZhITHgHFCMdF4JIAwVpUlk6gfiwsDDKQxSdxRl4Y5oAYGOsVv0AmRILpOJS8vRGGDui2hLXtAA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:50:20.300997Z","signed_message":"canonical_sha256_bytes"},"source_id":"2208.09635","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a46589b4c66d41fe397a20785817efe81f47fe7b19616bb2ab8d9834a1f3ae3e","sha256:1c1e6d0cd83fd8b97ed7e7ea170b3a9044462e975a979c01c94a96c4b3708f31"],"state_sha256":"a03c5e01391ad424c6cbed942773d68046242ee8afcce5dbd4aa6c1e0d0e6da4"}