{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:EXT24CFTL7BTX7OR7RDPO3ZDTP","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":"b4cb92cd9eb8d193b5f305eb8bfa9b69ce7f371cb4f6edb268de56dde3737ab0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2019-03-22T09:28:08Z","title_canon_sha256":"69818206076341eaccae386ccc7d087d2ede661de4719cb1ed078a262765c6af"},"schema_version":"1.0","source":{"id":"1903.09416","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09416","created_at":"2026-05-17T23:44:00Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09416v3","created_at":"2026-05-17T23:44:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09416","created_at":"2026-05-17T23:44:00Z"},{"alias_kind":"pith_short_12","alias_value":"EXT24CFTL7BT","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"EXT24CFTL7BTX7OR","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"EXT24CFT","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:4075fd94f573f138cecf94ff42b6c88414bdcafb74b15cf1a2ab553a8966eb89","target":"graph","created_at":"2026-05-17T23:44:00Z","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":"We consider path planning for a rigid spatial robot moving amidst polyhedral obstacles. Our robot is either a rod or a ring. Being axially-symmetric, their configuration space is R^3 x S^2 with 5 degrees of freedom (DOF). Correct, complete and practical path planning for such robots is a long standing challenge in robotics. While the rod is one of the most widely studied spatial robots in path planning, the ring seems to be new, and a rare example of a non-simply-connected robot. This work provides rigorous and complete algorithms for these robots with theoretical guarantees. We implemented th","authors_text":"Chee Yap, Ching-Hsiang Hsu, Yi-Jen Chiang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2019-03-22T09:28:08Z","title":"Rods and Rings: Soft Subdivision Planner for R^3 x S^2"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09416","kind":"arxiv","version":3},"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":"sha256:0a07e83da0f3e7fda8b0471c2f79bf22f82edae8b1217f841b0b9253f2764a59","target":"record","created_at":"2026-05-17T23:44:00Z","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":"b4cb92cd9eb8d193b5f305eb8bfa9b69ce7f371cb4f6edb268de56dde3737ab0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.CG","submitted_at":"2019-03-22T09:28:08Z","title_canon_sha256":"69818206076341eaccae386ccc7d087d2ede661de4719cb1ed078a262765c6af"},"schema_version":"1.0","source":{"id":"1903.09416","kind":"arxiv","version":3}},"canonical_sha256":"25e7ae08b35fc33bfdd1fc46f76f239bd059e82d717dae69eae5e2c9763e4390","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"25e7ae08b35fc33bfdd1fc46f76f239bd059e82d717dae69eae5e2c9763e4390","first_computed_at":"2026-05-17T23:44:00.002943Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:44:00.002943Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dI40OCnBB8Nl+rP2kHp06pagr3Z1Cn/Jkx2WPWyHYz6qXpGTi9NRTFwPJBV1MmKCwswUzC3Nj5SeoZU2wEvYBA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:44:00.003481Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.09416","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0a07e83da0f3e7fda8b0471c2f79bf22f82edae8b1217f841b0b9253f2764a59","sha256:4075fd94f573f138cecf94ff42b6c88414bdcafb74b15cf1a2ab553a8966eb89"],"state_sha256":"0aee77e802b17d67c3bda3bd595aab0c45192f52c1f98e947ec7ef49ef0d2662"}