{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:E5V4YWLHIHJMM3BW6G7LL3UY4C","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":"fa83046b724f3f95e98c7ae8e1f9b7b72796b65ffa08bad479968926b3ec9016","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-07T21:22:04Z","title_canon_sha256":"46519a4f7590f3b1937bc64be2a7ec8e419a5b8c5568d7221ee993454309a363"},"schema_version":"1.0","source":{"id":"1903.03187","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.03187","created_at":"2026-05-17T23:51:46Z"},{"alias_kind":"arxiv_version","alias_value":"1903.03187v1","created_at":"2026-05-17T23:51:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.03187","created_at":"2026-05-17T23:51:46Z"},{"alias_kind":"pith_short_12","alias_value":"E5V4YWLHIHJM","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"E5V4YWLHIHJMM3BW","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"E5V4YWLH","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:20f0c30906470ad1f66308506d3c5b0b8743bf6ae977439af0e71d4f6e4a793a","target":"graph","created_at":"2026-05-17T23:51:46Z","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":"This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined environments. In these scenarios, the robot should maintain the best viewpoint as it moves to the goal. However, in unstructured or confined environments, some paths may increase the risk of collision; therefore there is a tradeoff between risk and reward. Conventional state-dependent risk or probabilistic uncertainty modeling do not consider path-level risk or is d","authors_text":"Jan Dufek, Robin Murphy, Xuesu Xiao","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-07T21:22:04Z","title":"Explicit-risk-aware Path Planning with Reward Maximization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.03187","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:b9baf2650241295ef5fc2696ed13166c152ba11f3bc11244dcbb96cf164443f4","target":"record","created_at":"2026-05-17T23:51:46Z","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":"fa83046b724f3f95e98c7ae8e1f9b7b72796b65ffa08bad479968926b3ec9016","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-07T21:22:04Z","title_canon_sha256":"46519a4f7590f3b1937bc64be2a7ec8e419a5b8c5568d7221ee993454309a363"},"schema_version":"1.0","source":{"id":"1903.03187","kind":"arxiv","version":1}},"canonical_sha256":"276bcc596741d2c66c36f1beb5ee98e0a1cd9ce35fa495e5f7d2b30a6f689112","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"276bcc596741d2c66c36f1beb5ee98e0a1cd9ce35fa495e5f7d2b30a6f689112","first_computed_at":"2026-05-17T23:51:46.179904Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:51:46.179904Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"V+wxmZOIx39qOZxHrGIEPaWalzZuyJKzZrbAyca3KJ3vegKyxQ7NYUAMli9wwuQbW5Jx5yhVNfW0zfjEeWSyBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:51:46.180410Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.03187","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b9baf2650241295ef5fc2696ed13166c152ba11f3bc11244dcbb96cf164443f4","sha256:20f0c30906470ad1f66308506d3c5b0b8743bf6ae977439af0e71d4f6e4a793a"],"state_sha256":"a9b42fabcb86ea306a1a994e2a8848dc750c629416fb692a3942a3aa9c96d02f"}