{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:GUMNBFLTNXONTDFNTO2URERVSV","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":"bb6a49986484e21177538b8fb0fd3c8c07ab683030afc904a8f3fd7fe12ea8f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-05T22:22:24Z","title_canon_sha256":"63298e87f5a49191fa383843b8cd9966607b02f82a277d37060a60da0d411869"},"schema_version":"1.0","source":{"id":"1705.02408","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.02408","created_at":"2026-05-18T00:28:35Z"},{"alias_kind":"arxiv_version","alias_value":"1705.02408v3","created_at":"2026-05-18T00:28:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.02408","created_at":"2026-05-18T00:28:35Z"},{"alias_kind":"pith_short_12","alias_value":"GUMNBFLTNXON","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_16","alias_value":"GUMNBFLTNXONTDFN","created_at":"2026-05-18T12:31:18Z"},{"alias_kind":"pith_short_8","alias_value":"GUMNBFLT","created_at":"2026-05-18T12:31:18Z"}],"graph_snapshots":[{"event_id":"sha256:af54b0a8dcad628dea44c2f4096d0090d370ba671636ece73e6548b7e581c2ce","target":"graph","created_at":"2026-05-18T00:28:35Z","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":"In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion plan subject to a separate constraint on perception localization quality. To solve this problem we introduce the Multiobjective Perception-Aware Planning (MPAP) algorithm which explores the state space via a multiobjective search, considering both cost and a perception heuristic. This framework can accommodate a large range of heuristics, allowing those that capture the history dependence of localization drift and re","authors_text":"Benoit Landry, Brian Ichter, Edward Schmerling, Marco Pavone","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-05T22:22:24Z","title":"Perception-Aware Motion Planning via Multiobjective Search on GPUs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.02408","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:fc63371c50df0584959e5d21814f59cc3fec6590a8030651a68e65032d5ddf7f","target":"record","created_at":"2026-05-18T00:28:35Z","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":"bb6a49986484e21177538b8fb0fd3c8c07ab683030afc904a8f3fd7fe12ea8f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-05T22:22:24Z","title_canon_sha256":"63298e87f5a49191fa383843b8cd9966607b02f82a277d37060a60da0d411869"},"schema_version":"1.0","source":{"id":"1705.02408","kind":"arxiv","version":3}},"canonical_sha256":"3518d095736ddcd98cad9bb548923595693f8b9a44fc9a84e69ef70da5455e57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3518d095736ddcd98cad9bb548923595693f8b9a44fc9a84e69ef70da5455e57","first_computed_at":"2026-05-18T00:28:35.490853Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:28:35.490853Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Nt4tnjN0lXN8q7WEYcJc8RRPEZcUgsXPCN7oRP+GKSJ71kr/VZY3Bkqbi5OJjbTml91cJGOga9Ugb+g/tqdOCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:28:35.491530Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.02408","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fc63371c50df0584959e5d21814f59cc3fec6590a8030651a68e65032d5ddf7f","sha256:af54b0a8dcad628dea44c2f4096d0090d370ba671636ece73e6548b7e581c2ce"],"state_sha256":"e857b9fbe3fdd3b5e7af4bd637af47cd65b1c6709856811a6a940c678386c3ca"}