{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FXHBF6MU6XWNG2T5CCE2XTJB5L","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":"ed34f397c0cecf0973bac0f0a16a4612d2ef1d7442f30bffef9d540c9d808e75","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T04:17:13Z","title_canon_sha256":"8f3e4f753cb6eaa60c74c3f8e332612ad618aab7b497b951a75473704247d20b"},"schema_version":"1.0","source":{"id":"2608.05586","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.05586","created_at":"2026-08-07T00:50:07Z"},{"alias_kind":"arxiv_version","alias_value":"2608.05586v1","created_at":"2026-08-07T00:50:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.05586","created_at":"2026-08-07T00:50:07Z"},{"alias_kind":"pith_short_12","alias_value":"FXHBF6MU6XWN","created_at":"2026-08-07T00:50:07Z"},{"alias_kind":"pith_short_16","alias_value":"FXHBF6MU6XWNG2T5","created_at":"2026-08-07T00:50:07Z"},{"alias_kind":"pith_short_8","alias_value":"FXHBF6MU","created_at":"2026-08-07T00:50:07Z"}],"graph_snapshots":[{"event_id":"sha256:d2f709202d5bc0e1874a1fe383211121a3314b7a9e23b254d437c5d2dc648b56","target":"graph","created_at":"2026-08-07T00:50:07Z","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/2608.05586/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To resolve this bottleneck, we introduce PathCover, a framework driven by RISP; a novel randomized algorithm that constructs convex polytopes directly from raw point cloud data in expected linear time under a mild probabilistic elimination condition. PathCover generates sequences of overlapping, obstacle-free polytopes that safely constrain downstream MPC and trajectory optimization. ","authors_text":"Abhijeet M. Kulkarni, Guoquan Huang, Ioannis Poulakakis, Kunal S. Narkhede","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T04:17:13Z","title":"PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.05586","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:ecc4d1a794dad86a65218c1b34655e24f222ec0e49e6267e0be7e9c2bd626833","target":"record","created_at":"2026-08-07T00:50:07Z","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":"ed34f397c0cecf0973bac0f0a16a4612d2ef1d7442f30bffef9d540c9d808e75","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T04:17:13Z","title_canon_sha256":"8f3e4f753cb6eaa60c74c3f8e332612ad618aab7b497b951a75473704247d20b"},"schema_version":"1.0","source":{"id":"2608.05586","kind":"arxiv","version":1}},"canonical_sha256":"2dce12f994f5ecd36a7d1089abcd21eae3dbf7193d4661dcbc75b71c96858748","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2dce12f994f5ecd36a7d1089abcd21eae3dbf7193d4661dcbc75b71c96858748","first_computed_at":"2026-08-07T00:50:07.762796Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-07T00:50:07.762796Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WzE8uFVYtR3QG9cw1DXbyhMEiTeYBQVBMu2Kg/yG7aOS+wzk+b/I5zT/HTcjR3M3deylI6Qp4zao7W1gXhJXCg==","signature_status":"signed_v1","signed_at":"2026-08-07T00:50:07.764183Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.05586","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ecc4d1a794dad86a65218c1b34655e24f222ec0e49e6267e0be7e9c2bd626833","sha256:d2f709202d5bc0e1874a1fe383211121a3314b7a9e23b254d437c5d2dc648b56"],"state_sha256":"163616158b9b8da9cc00aa595ad80b5c713e8c2d915392e442419d5efda9494f"}