{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:FSNLQTCZPS4Z6SAHSEAADY7QB2","short_pith_number":"pith:FSNLQTCZ","schema_version":"1.0","canonical_sha256":"2c9ab84c597cb99f4807910001e3f00ebacf63536e882d4884815e8cb425231e","source":{"kind":"arxiv","id":"2110.01749","version":2},"attestation_state":"computed","paper":{"title":"Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anouck Girard, Ilya Kolmanovsky, Nan Li, Xiao Li, Yutong Li","submitted_at":"2021-10-04T23:43:23Z","abstract_excerpt":"In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds on the sensor and robot motion model. We establish theoretical properties and computational approaches for this set-theoretic localization approach and illustrate its application to an automated valet parking example in simulations and to omnidirectional robot localization problems in real-world experiments. We demonstrate that the set-theoretic localizatio"},"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":"2110.01749","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-04T23:43:23Z","cross_cats_sorted":[],"title_canon_sha256":"49e3a0e904e8587ca6c0168b90485c8fd0a85cab64eb6e7ecefdeea73e621611","abstract_canon_sha256":"7eb47c5ae30efbb537b23e3c9a1e5a46515d2fa6698cd806e447723aaf9e809d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:17:43.598149Z","signature_b64":"si6UhxVZkyFtsuWnWz9eMRG86Zro50qPG/aFSLsuPwAMZvUzxy++nHOwotxH7k566zPphoptGLQC1B98n8q/Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2c9ab84c597cb99f4807910001e3f00ebacf63536e882d4884815e8cb425231e","last_reissued_at":"2026-07-05T05:17:43.597716Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:17:43.597716Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Anouck Girard, Ilya Kolmanovsky, Nan Li, Xiao Li, Yutong Li","submitted_at":"2021-10-04T23:43:23Z","abstract_excerpt":"In this paper, we introduce a set-theoretic approach for mobile robot localization with infrastructure-based sensing. The proposed method computes sets that over-bound the robot body and orientation under an assumption of known noise bounds on the sensor and robot motion model. We establish theoretical properties and computational approaches for this set-theoretic localization approach and illustrate its application to an automated valet parking example in simulations and to omnidirectional robot localization problems in real-world experiments. We demonstrate that the set-theoretic localizatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.01749","kind":"arxiv","version":2},"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/2110.01749/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2110.01749","created_at":"2026-07-05T05:17:43.597787+00:00"},{"alias_kind":"arxiv_version","alias_value":"2110.01749v2","created_at":"2026-07-05T05:17:43.597787+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.01749","created_at":"2026-07-05T05:17:43.597787+00:00"},{"alias_kind":"pith_short_12","alias_value":"FSNLQTCZPS4Z","created_at":"2026-07-05T05:17:43.597787+00:00"},{"alias_kind":"pith_short_16","alias_value":"FSNLQTCZPS4Z6SAH","created_at":"2026-07-05T05:17:43.597787+00:00"},{"alias_kind":"pith_short_8","alias_value":"FSNLQTCZ","created_at":"2026-07-05T05:17:43.597787+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/FSNLQTCZPS4Z6SAHSEAADY7QB2","json":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2.json","graph_json":"https://pith.science/api/pith-number/FSNLQTCZPS4Z6SAHSEAADY7QB2/graph.json","events_json":"https://pith.science/api/pith-number/FSNLQTCZPS4Z6SAHSEAADY7QB2/events.json","paper":"https://pith.science/paper/FSNLQTCZ"},"agent_actions":{"view_html":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2","download_json":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2.json","view_paper":"https://pith.science/paper/FSNLQTCZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2110.01749&json=true","fetch_graph":"https://pith.science/api/pith-number/FSNLQTCZPS4Z6SAHSEAADY7QB2/graph.json","fetch_events":"https://pith.science/api/pith-number/FSNLQTCZPS4Z6SAHSEAADY7QB2/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2/action/timestamp_anchor","attest_storage":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2/action/storage_attestation","attest_author":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2/action/author_attestation","sign_citation":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2/action/citation_signature","submit_replication":"https://pith.science/pith/FSNLQTCZPS4Z6SAHSEAADY7QB2/action/replication_record"}},"created_at":"2026-07-05T05:17:43.597787+00:00","updated_at":"2026-07-05T05:17:43.597787+00:00"}