{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:H5OBBXZCWTR2LOJNQ7TNRY5FBS","short_pith_number":"pith:H5OBBXZC","schema_version":"1.0","canonical_sha256":"3f5c10df22b4e3a5b92d87e6d8e3a50c9c65756deafeb70320614a3ae501a962","source":{"kind":"arxiv","id":"1708.05855","version":1},"attestation_state":"computed","paper":{"title":"Practical Distance Functions for Path-Planning in Planar Domains","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Craig Gotsman, Kai Hormann, Renjie Chen","submitted_at":"2017-08-19T14:33:50Z","abstract_excerpt":"Path planning is an important problem in robotics. One way to plan a path between two points $x,y$ within a (not necessarily simply-connected) planar domain $\\Omega$, is to define a non-negative distance function $d(x,y)$ on $\\Omega\\times\\Omega$ such that following the (descending) gradient of this distance function traces such a path. This presents two equally important challenges: A mathematical challenge -- to define $d$ such that $d(x,y)$ has a single minimum for any fixed $y$ (and this is when $x=y$), since a local minimum is in effect a \"dead end\", A computational challenge -- to define "},"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":"1708.05855","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-08-19T14:33:50Z","cross_cats_sorted":[],"title_canon_sha256":"d7405357566580bbac8ad02264ba1e4126a5573837eb2c7e1d814769a078f0f8","abstract_canon_sha256":"0a63caa64a71b8879e62cf7174dd0aa71686b2d1733e67d16c913a936c758ab6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:37:43.985200Z","signature_b64":"ukXlBfI78Oyo10dlFc3eTYk9v+DDJMgL60uNnzrTIfbZp6GdQAnDGNjLDo4Ra7GYMEZ3RjHSwDbidXJ1bSs+Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3f5c10df22b4e3a5b92d87e6d8e3a50c9c65756deafeb70320614a3ae501a962","last_reissued_at":"2026-05-18T00:37:43.984517Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:37:43.984517Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Practical Distance Functions for Path-Planning in Planar Domains","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Craig Gotsman, Kai Hormann, Renjie Chen","submitted_at":"2017-08-19T14:33:50Z","abstract_excerpt":"Path planning is an important problem in robotics. One way to plan a path between two points $x,y$ within a (not necessarily simply-connected) planar domain $\\Omega$, is to define a non-negative distance function $d(x,y)$ on $\\Omega\\times\\Omega$ such that following the (descending) gradient of this distance function traces such a path. This presents two equally important challenges: A mathematical challenge -- to define $d$ such that $d(x,y)$ has a single minimum for any fixed $y$ (and this is when $x=y$), since a local minimum is in effect a \"dead end\", A computational challenge -- to define "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.05855","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"1708.05855","created_at":"2026-05-18T00:37:43.984626+00:00"},{"alias_kind":"arxiv_version","alias_value":"1708.05855v1","created_at":"2026-05-18T00:37:43.984626+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.05855","created_at":"2026-05-18T00:37:43.984626+00:00"},{"alias_kind":"pith_short_12","alias_value":"H5OBBXZCWTR2","created_at":"2026-05-18T12:31:18.294218+00:00"},{"alias_kind":"pith_short_16","alias_value":"H5OBBXZCWTR2LOJN","created_at":"2026-05-18T12:31:18.294218+00:00"},{"alias_kind":"pith_short_8","alias_value":"H5OBBXZC","created_at":"2026-05-18T12:31:18.294218+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/H5OBBXZCWTR2LOJNQ7TNRY5FBS","json":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS.json","graph_json":"https://pith.science/api/pith-number/H5OBBXZCWTR2LOJNQ7TNRY5FBS/graph.json","events_json":"https://pith.science/api/pith-number/H5OBBXZCWTR2LOJNQ7TNRY5FBS/events.json","paper":"https://pith.science/paper/H5OBBXZC"},"agent_actions":{"view_html":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS","download_json":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS.json","view_paper":"https://pith.science/paper/H5OBBXZC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1708.05855&json=true","fetch_graph":"https://pith.science/api/pith-number/H5OBBXZCWTR2LOJNQ7TNRY5FBS/graph.json","fetch_events":"https://pith.science/api/pith-number/H5OBBXZCWTR2LOJNQ7TNRY5FBS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS/action/storage_attestation","attest_author":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS/action/author_attestation","sign_citation":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS/action/citation_signature","submit_replication":"https://pith.science/pith/H5OBBXZCWTR2LOJNQ7TNRY5FBS/action/replication_record"}},"created_at":"2026-05-18T00:37:43.984626+00:00","updated_at":"2026-05-18T00:37:43.984626+00:00"}