{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:DNEGXSSQZRNFDYNRPXGMD3GTGX","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":"9f6bed82a1ac7f195fd2ee7dd0b5e71f34e29383f15f16924e9ca004443433a8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-30T07:51:29Z","title_canon_sha256":"cef9f5ef95017a5b4fd85688f05039a7a0bebd804637cd48d58147a7ae1ba58b"},"schema_version":"1.0","source":{"id":"1801.09877","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.09877","created_at":"2026-05-18T00:24:46Z"},{"alias_kind":"arxiv_version","alias_value":"1801.09877v1","created_at":"2026-05-18T00:24:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.09877","created_at":"2026-05-18T00:24:46Z"},{"alias_kind":"pith_short_12","alias_value":"DNEGXSSQZRNF","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"DNEGXSSQZRNFDYNR","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"DNEGXSSQ","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:4f8ef892eb1f82c0ea38243b81971cbd3e55b9ab523508c3f3639211a8d139c9","target":"graph","created_at":"2026-05-18T00:24:46Z","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"},"paper":{"abstract_excerpt":"Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation uncertainty.","authors_text":"Mohammadhussein Rafieisakhaei, P. R. Kumar, Suman Chakravorty","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-30T07:51:29Z","title":"On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.09877","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":"sha256:80f9b5cc9553efc3c99139da70baa9ee45feaac36e226e62a6f8d130149e6ae4","target":"record","created_at":"2026-05-18T00:24:46Z","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":"9f6bed82a1ac7f195fd2ee7dd0b5e71f34e29383f15f16924e9ca004443433a8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-30T07:51:29Z","title_canon_sha256":"cef9f5ef95017a5b4fd85688f05039a7a0bebd804637cd48d58147a7ae1ba58b"},"schema_version":"1.0","source":{"id":"1801.09877","kind":"arxiv","version":1}},"canonical_sha256":"1b486bca50cc5a51e1b17dccc1ecd335f5de3500639a79ec009920b71ca0f759","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1b486bca50cc5a51e1b17dccc1ecd335f5de3500639a79ec009920b71ca0f759","first_computed_at":"2026-05-18T00:24:46.520406Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:24:46.520406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2JIY5ohOSQcqZ8NC5ZIOjFH+igQeSL2K1LRd/52ufEDoyrI7nrDxc+HC8WhybYPfh/IJXS1c5SbRafT+QTdjCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:24:46.521047Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.09877","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:80f9b5cc9553efc3c99139da70baa9ee45feaac36e226e62a6f8d130149e6ae4","sha256:4f8ef892eb1f82c0ea38243b81971cbd3e55b9ab523508c3f3639211a8d139c9"],"state_sha256":"7ed19ebe5dfd47a92154acb4f2bfebd5ddc782ccb639203c40a94c86ed921e8d"}