{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:H6NHHQCXGYDS5XL6DX4QLNKNFX","short_pith_number":"pith:H6NHHQCX","canonical_record":{"source":{"id":"2504.05339","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-06T01:11:02Z","cross_cats_sorted":[],"title_canon_sha256":"63d5f5bcb45f346d9aea7a50f69723d293753c813582663cf1c2cda226c8a433","abstract_canon_sha256":"d237bf1114b1e959de5a05f7a094febce86d0ad31a5de97dabebeefc3df5f043"},"schema_version":"1.0"},"canonical_sha256":"3f9a73c05736072edd7e1df905b54d2dfa98b2ea11646c0c9b082f6205d0bf08","source":{"kind":"arxiv","id":"2504.05339","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.05339","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"arxiv_version","alias_value":"2504.05339v1","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.05339","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_12","alias_value":"H6NHHQCXGYDS","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_16","alias_value":"H6NHHQCXGYDS5XL6","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_8","alias_value":"H6NHHQCX","created_at":"2026-07-05T10:45:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:H6NHHQCXGYDS5XL6DX4QLNKNFX","target":"record","payload":{"canonical_record":{"source":{"id":"2504.05339","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-06T01:11:02Z","cross_cats_sorted":[],"title_canon_sha256":"63d5f5bcb45f346d9aea7a50f69723d293753c813582663cf1c2cda226c8a433","abstract_canon_sha256":"d237bf1114b1e959de5a05f7a094febce86d0ad31a5de97dabebeefc3df5f043"},"schema_version":"1.0"},"canonical_sha256":"3f9a73c05736072edd7e1df905b54d2dfa98b2ea11646c0c9b082f6205d0bf08","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:45:40.780854Z","signature_b64":"/IbhwLbOSENAKWId5R4rcNOUHeUnvoXWXb/8YqCtfoN/CKfxEIciDGOBfP+OXL1Qg8fILyt7y0M4gqZi+UOnDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3f9a73c05736072edd7e1df905b54d2dfa98b2ea11646c0c9b082f6205d0bf08","last_reissued_at":"2026-07-05T10:45:40.780386Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:45:40.780386Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.05339","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:45:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yTyc7aSJQP1b/uSJGuheIp3S08fWUwBgNfwfqCNDmnN7g+Nw6j5TLnG1YFju5fPmEy5EjckLS+FtEnmsUJlbAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:57:36.626454Z"},"content_sha256":"f0cfb1ecec25828457542805f35435aa0d145616130a478a4dee2484d27ef65c","schema_version":"1.0","event_id":"sha256:f0cfb1ecec25828457542805f35435aa0d145616130a478a4dee2484d27ef65c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:H6NHHQCXGYDS5XL6DX4QLNKNFX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Optimized Path Planning for Logistics Robots Using Ant Colony Algorithm under Multiple Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hao Liu, Haopeng Zhao, Lipeng Liu, Yang Wang, Zheyu Zhang, Zhichao Ma","submitted_at":"2025-04-06T01:11:02Z","abstract_excerpt":"With the rapid development of the logistics industry, the path planning of logistics vehicles has become increasingly complex, requiring consideration of multiple constraints such as time windows, task sequencing, and motion smoothness. Traditional path planning methods often struggle to balance these competing demands efficiently. In this paper, we propose a path planning technique based on the Ant Colony Optimization (ACO) algorithm to address these challenges. The proposed method optimizes key performance metrics, including path length, task completion time, turning counts, and motion smoot"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.05339","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2504.05339/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:45:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BHeUrhv/uCuMNj1XwfHye8n/vmt744PabtpvwkFbL2pcQhIjxaAB9+WES79S/nckUmXpWPaCR0wi/Ra1tJVvDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:57:36.627408Z"},"content_sha256":"a244f5bbc3647fa5ef6c54ac2150243c8447238f4b27e08b09060f21b40b3188","schema_version":"1.0","event_id":"sha256:a244f5bbc3647fa5ef6c54ac2150243c8447238f4b27e08b09060f21b40b3188"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/bundle.json","state_url":"https://pith.science/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-08T13:57:36Z","links":{"resolver":"https://pith.science/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX","bundle":"https://pith.science/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/bundle.json","state":"https://pith.science/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H6NHHQCXGYDS5XL6DX4QLNKNFX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:H6NHHQCXGYDS5XL6DX4QLNKNFX","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":"d237bf1114b1e959de5a05f7a094febce86d0ad31a5de97dabebeefc3df5f043","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-06T01:11:02Z","title_canon_sha256":"63d5f5bcb45f346d9aea7a50f69723d293753c813582663cf1c2cda226c8a433"},"schema_version":"1.0","source":{"id":"2504.05339","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.05339","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"arxiv_version","alias_value":"2504.05339v1","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.05339","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_12","alias_value":"H6NHHQCXGYDS","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_16","alias_value":"H6NHHQCXGYDS5XL6","created_at":"2026-07-05T10:45:40Z"},{"alias_kind":"pith_short_8","alias_value":"H6NHHQCX","created_at":"2026-07-05T10:45:40Z"}],"graph_snapshots":[{"event_id":"sha256:a244f5bbc3647fa5ef6c54ac2150243c8447238f4b27e08b09060f21b40b3188","target":"graph","created_at":"2026-07-05T10:45:40Z","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/2504.05339/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the rapid development of the logistics industry, the path planning of logistics vehicles has become increasingly complex, requiring consideration of multiple constraints such as time windows, task sequencing, and motion smoothness. Traditional path planning methods often struggle to balance these competing demands efficiently. In this paper, we propose a path planning technique based on the Ant Colony Optimization (ACO) algorithm to address these challenges. The proposed method optimizes key performance metrics, including path length, task completion time, turning counts, and motion smoot","authors_text":"Hao Liu, Haopeng Zhao, Lipeng Liu, Yang Wang, Zheyu Zhang, Zhichao Ma","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-06T01:11:02Z","title":"Optimized Path Planning for Logistics Robots Using Ant Colony Algorithm under Multiple Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.05339","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:f0cfb1ecec25828457542805f35435aa0d145616130a478a4dee2484d27ef65c","target":"record","created_at":"2026-07-05T10:45:40Z","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":"d237bf1114b1e959de5a05f7a094febce86d0ad31a5de97dabebeefc3df5f043","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-06T01:11:02Z","title_canon_sha256":"63d5f5bcb45f346d9aea7a50f69723d293753c813582663cf1c2cda226c8a433"},"schema_version":"1.0","source":{"id":"2504.05339","kind":"arxiv","version":1}},"canonical_sha256":"3f9a73c05736072edd7e1df905b54d2dfa98b2ea11646c0c9b082f6205d0bf08","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3f9a73c05736072edd7e1df905b54d2dfa98b2ea11646c0c9b082f6205d0bf08","first_computed_at":"2026-07-05T10:45:40.780386Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:45:40.780386Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/IbhwLbOSENAKWId5R4rcNOUHeUnvoXWXb/8YqCtfoN/CKfxEIciDGOBfP+OXL1Qg8fILyt7y0M4gqZi+UOnDg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:45:40.780854Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.05339","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f0cfb1ecec25828457542805f35435aa0d145616130a478a4dee2484d27ef65c","sha256:a244f5bbc3647fa5ef6c54ac2150243c8447238f4b27e08b09060f21b40b3188"],"state_sha256":"57b7f131f4fe663665495af2bca3814bd6c2a96292bf25d9a95834d8b4d62154"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VKGOxPNyy7SLuFc48piZDhQ9EqUTyD2b3gvPFSbXgAKx70/VY90rsoAVfRlzz2Um1kVoLkOe6RCMnfMzUqEGDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T13:57:36.635672Z","bundle_sha256":"dcb8dc2cb9cc5634adb05fef9a7f4d9f822d807627430c4fc90894c983ddd4bd"}}