{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:C6HGVZSGCUAFF25B7ZQLBI2BPT","short_pith_number":"pith:C6HGVZSG","canonical_record":{"source":{"id":"2402.01575","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:13:03Z","cross_cats_sorted":[],"title_canon_sha256":"2657d183ce4d789ffd756382e26513d432e3772903c2578aaad3cfb6b98f4667","abstract_canon_sha256":"6a28294739ac196fe05798abc979f52a142aaf20586bef8e3a8c426d5eeefaaa"},"schema_version":"1.0"},"canonical_sha256":"178e6ae646150052eba1fe60b0a3417cd979797ff6dcd67ce8c9cfb85973fc6f","source":{"kind":"arxiv","id":"2402.01575","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.01575","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2402.01575v1","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.01575","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"C6HGVZSGCUAF","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"C6HGVZSGCUAFF25B","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"C6HGVZSG","created_at":"2026-07-05T07:40:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:C6HGVZSGCUAFF25B7ZQLBI2BPT","target":"record","payload":{"canonical_record":{"source":{"id":"2402.01575","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:13:03Z","cross_cats_sorted":[],"title_canon_sha256":"2657d183ce4d789ffd756382e26513d432e3772903c2578aaad3cfb6b98f4667","abstract_canon_sha256":"6a28294739ac196fe05798abc979f52a142aaf20586bef8e3a8c426d5eeefaaa"},"schema_version":"1.0"},"canonical_sha256":"178e6ae646150052eba1fe60b0a3417cd979797ff6dcd67ce8c9cfb85973fc6f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:40:46.019200Z","signature_b64":"2/UxEychHG+2MOKXwYN7UFEovTAOJswidNPUjD4U9YaeQKLMIqQ2uKDziurOGZs3oubCIen4jX9g2mdtnBmvAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"178e6ae646150052eba1fe60b0a3417cd979797ff6dcd67ce8c9cfb85973fc6f","last_reissued_at":"2026-07-05T07:40:46.018814Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:40:46.018814Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.01575","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LEe9Ffh61tS3Rbvk3Y0xXQBKifdqWUFH5MUd7ppX4RvtaqWtrsWwPm0HMVIIi9piXnSF7hlTYOMLpB/cbzcwAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:28:26.358746Z"},"content_sha256":"1f5684433ee626fee21a2cf0f626ced511abbac88abb31770f1d4683cc6081ea","schema_version":"1.0","event_id":"sha256:1f5684433ee626fee21a2cf0f626ced511abbac88abb31770f1d4683cc6081ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:C6HGVZSGCUAFF25B7ZQLBI2BPT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Efficient and Interaction-Aware Trajectory Planning for Autonomous Vehicles with Particle Swarm Optimization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"David Isele, Lin Song, Naira Hovakimyan, Sangjae Bae","submitted_at":"2024-02-02T17:13:03Z","abstract_excerpt":"This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural Network (NN) predictions for trajectory refinement. The generation of smooth and dynamically feasible trajectories for the lane change maneuver is facilitated by combining polynomial curve fitting with particle propagation, which can account for vehicle dynamics. The proposed planning algorithm is capable of determining feasible trajectories with real-time co"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.01575","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2402.01575/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:40:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yZArhcVk/eouaG55ONOx9qGN0r3JD1I4XHgruEhI4FB+eEldaAsPPzKJtN+kDW7cZ+VgnRBcaCYAlQBj6wF7Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:28:26.359119Z"},"content_sha256":"2ddd92a263b8f6976b5e521c60a03e98b27b7436b4b64ee605882dc7cdc13c62","schema_version":"1.0","event_id":"sha256:2ddd92a263b8f6976b5e521c60a03e98b27b7436b4b64ee605882dc7cdc13c62"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/bundle.json","state_url":"https://pith.science/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T23:28:26Z","links":{"resolver":"https://pith.science/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT","bundle":"https://pith.science/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/bundle.json","state":"https://pith.science/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/C6HGVZSGCUAFF25B7ZQLBI2BPT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:C6HGVZSGCUAFF25B7ZQLBI2BPT","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":"6a28294739ac196fe05798abc979f52a142aaf20586bef8e3a8c426d5eeefaaa","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:13:03Z","title_canon_sha256":"2657d183ce4d789ffd756382e26513d432e3772903c2578aaad3cfb6b98f4667"},"schema_version":"1.0","source":{"id":"2402.01575","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.01575","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"arxiv_version","alias_value":"2402.01575v1","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.01575","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_12","alias_value":"C6HGVZSGCUAF","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_16","alias_value":"C6HGVZSGCUAFF25B","created_at":"2026-07-05T07:40:46Z"},{"alias_kind":"pith_short_8","alias_value":"C6HGVZSG","created_at":"2026-07-05T07:40:46Z"}],"graph_snapshots":[{"event_id":"sha256:2ddd92a263b8f6976b5e521c60a03e98b27b7436b4b64ee605882dc7cdc13c62","target":"graph","created_at":"2026-07-05T07:40:46Z","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/2402.01575/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural Network (NN) predictions for trajectory refinement. The generation of smooth and dynamically feasible trajectories for the lane change maneuver is facilitated by combining polynomial curve fitting with particle propagation, which can account for vehicle dynamics. The proposed planning algorithm is capable of determining feasible trajectories with real-time co","authors_text":"David Isele, Lin Song, Naira Hovakimyan, Sangjae Bae","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:13:03Z","title":"Efficient and Interaction-Aware Trajectory Planning for Autonomous Vehicles with Particle Swarm Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.01575","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":"sha256:1f5684433ee626fee21a2cf0f626ced511abbac88abb31770f1d4683cc6081ea","target":"record","created_at":"2026-07-05T07:40:46Z","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":"6a28294739ac196fe05798abc979f52a142aaf20586bef8e3a8c426d5eeefaaa","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-02T17:13:03Z","title_canon_sha256":"2657d183ce4d789ffd756382e26513d432e3772903c2578aaad3cfb6b98f4667"},"schema_version":"1.0","source":{"id":"2402.01575","kind":"arxiv","version":1}},"canonical_sha256":"178e6ae646150052eba1fe60b0a3417cd979797ff6dcd67ce8c9cfb85973fc6f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"178e6ae646150052eba1fe60b0a3417cd979797ff6dcd67ce8c9cfb85973fc6f","first_computed_at":"2026-07-05T07:40:46.018814Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:40:46.018814Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2/UxEychHG+2MOKXwYN7UFEovTAOJswidNPUjD4U9YaeQKLMIqQ2uKDziurOGZs3oubCIen4jX9g2mdtnBmvAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:40:46.019200Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.01575","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1f5684433ee626fee21a2cf0f626ced511abbac88abb31770f1d4683cc6081ea","sha256:2ddd92a263b8f6976b5e521c60a03e98b27b7436b4b64ee605882dc7cdc13c62"],"state_sha256":"6b5559847014f4e666fb449e9e7d543ead052b983fce0a24c212a116249499db"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5GXBssJjJEIo4ql2/uNVD6ZPGA4zoE5kn5t9uLWwygm1RV7kZoHXnewM5NYoypY6tpDDbHbLsJf3fYYK+Xr2Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:28:26.361053Z","bundle_sha256":"ba14467c4a98afab0ba37b6c0147c682b14e4ef9be31fc8aae0ca152a887989a"}}