{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:DYKFMT55AMZ3AQDOEVKDW2IYCQ","short_pith_number":"pith:DYKFMT55","schema_version":"1.0","canonical_sha256":"1e14564fbd0333b0406e25543b6918142767db2885da63b52c805af8aa9706ac","source":{"kind":"arxiv","id":"1710.01328","version":1},"attestation_state":"computed","paper":{"title":"Reuleaux: Robot Base Placement by Reachability Analysis","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhijit Makhal, Alex K. Goins","submitted_at":"2017-10-03T18:13:58Z","abstract_excerpt":"Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed-base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks.\n  This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual"},"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":"1710.01328","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-10-03T18:13:58Z","cross_cats_sorted":[],"title_canon_sha256":"8cd0e11e137204d17d0db44381fba8f1565ebc67cb97cec3a7b8d64dce81dba8","abstract_canon_sha256":"b4c1af406412f3092e09972b27840c4d904da566c75e3937566faff74283028f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:33:44.585041Z","signature_b64":"1dRihzmpbcOmhlqJrruMOoXgIidsQCgjQ5tDYacjulP5b6hrGbZCob2cL1CbyHBV4tsKkeBc6bA4rpfmwHD7BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1e14564fbd0333b0406e25543b6918142767db2885da63b52c805af8aa9706ac","last_reissued_at":"2026-05-18T00:33:44.584370Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:33:44.584370Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Reuleaux: Robot Base Placement by Reachability Analysis","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abhijit Makhal, Alex K. Goins","submitted_at":"2017-10-03T18:13:58Z","abstract_excerpt":"Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixed-base robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks.\n  This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.01328","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":""},"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":"1710.01328","created_at":"2026-05-18T00:33:44.584485+00:00"},{"alias_kind":"arxiv_version","alias_value":"1710.01328v1","created_at":"2026-05-18T00:33:44.584485+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.01328","created_at":"2026-05-18T00:33:44.584485+00:00"},{"alias_kind":"pith_short_12","alias_value":"DYKFMT55AMZ3","created_at":"2026-05-18T12:31:12.930513+00:00"},{"alias_kind":"pith_short_16","alias_value":"DYKFMT55AMZ3AQDO","created_at":"2026-05-18T12:31:12.930513+00:00"},{"alias_kind":"pith_short_8","alias_value":"DYKFMT55","created_at":"2026-05-18T12:31:12.930513+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/DYKFMT55AMZ3AQDOEVKDW2IYCQ","json":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ.json","graph_json":"https://pith.science/api/pith-number/DYKFMT55AMZ3AQDOEVKDW2IYCQ/graph.json","events_json":"https://pith.science/api/pith-number/DYKFMT55AMZ3AQDOEVKDW2IYCQ/events.json","paper":"https://pith.science/paper/DYKFMT55"},"agent_actions":{"view_html":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ","download_json":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ.json","view_paper":"https://pith.science/paper/DYKFMT55","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1710.01328&json=true","fetch_graph":"https://pith.science/api/pith-number/DYKFMT55AMZ3AQDOEVKDW2IYCQ/graph.json","fetch_events":"https://pith.science/api/pith-number/DYKFMT55AMZ3AQDOEVKDW2IYCQ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ/action/storage_attestation","attest_author":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ/action/author_attestation","sign_citation":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ/action/citation_signature","submit_replication":"https://pith.science/pith/DYKFMT55AMZ3AQDOEVKDW2IYCQ/action/replication_record"}},"created_at":"2026-05-18T00:33:44.584485+00:00","updated_at":"2026-05-18T00:33:44.584485+00:00"}