{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:FSNLQTCZPS4Z6SAHSEAADY7QB2","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":"7eb47c5ae30efbb537b23e3c9a1e5a46515d2fa6698cd806e447723aaf9e809d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-04T23:43:23Z","title_canon_sha256":"49e3a0e904e8587ca6c0168b90485c8fd0a85cab64eb6e7ecefdeea73e621611"},"schema_version":"1.0","source":{"id":"2110.01749","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.01749","created_at":"2026-07-05T05:17:43Z"},{"alias_kind":"arxiv_version","alias_value":"2110.01749v2","created_at":"2026-07-05T05:17:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.01749","created_at":"2026-07-05T05:17:43Z"},{"alias_kind":"pith_short_12","alias_value":"FSNLQTCZPS4Z","created_at":"2026-07-05T05:17:43Z"},{"alias_kind":"pith_short_16","alias_value":"FSNLQTCZPS4Z6SAH","created_at":"2026-07-05T05:17:43Z"},{"alias_kind":"pith_short_8","alias_value":"FSNLQTCZ","created_at":"2026-07-05T05:17:43Z"}],"graph_snapshots":[{"event_id":"sha256:bc25046312e4041a337ca5ce3f14a33b849b420724292095f5450c16c540b7ff","target":"graph","created_at":"2026-07-05T05:17:43Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2110.01749/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Anouck Girard, Ilya Kolmanovsky, Nan Li, Xiao Li, Yutong Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-04T23:43:23Z","title":"Set-theoretic Localization for Mobile Robots with Infrastructure-based Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.01749","kind":"arxiv","version":2},"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:c0dd9a840b30d606dec3909ade4d3ca5617fe51ab265d0cc340c330ab15c44e5","target":"record","created_at":"2026-07-05T05:17:43Z","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":"7eb47c5ae30efbb537b23e3c9a1e5a46515d2fa6698cd806e447723aaf9e809d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-04T23:43:23Z","title_canon_sha256":"49e3a0e904e8587ca6c0168b90485c8fd0a85cab64eb6e7ecefdeea73e621611"},"schema_version":"1.0","source":{"id":"2110.01749","kind":"arxiv","version":2}},"canonical_sha256":"2c9ab84c597cb99f4807910001e3f00ebacf63536e882d4884815e8cb425231e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c9ab84c597cb99f4807910001e3f00ebacf63536e882d4884815e8cb425231e","first_computed_at":"2026-07-05T05:17:43.597716Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:17:43.597716Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"si6UhxVZkyFtsuWnWz9eMRG86Zro50qPG/aFSLsuPwAMZvUzxy++nHOwotxH7k566zPphoptGLQC1B98n8q/Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:17:43.598149Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.01749","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c0dd9a840b30d606dec3909ade4d3ca5617fe51ab265d0cc340c330ab15c44e5","sha256:bc25046312e4041a337ca5ce3f14a33b849b420724292095f5450c16c540b7ff"],"state_sha256":"a815ef453ed7db339a1a568a3203231ac925d1e7590f18784ca47431b72a5753"}