{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:HGWW4GSUTNFW27RXMM65X5UBWG","short_pith_number":"pith:HGWW4GSU","canonical_record":{"source":{"id":"1511.05186","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-11-16T21:28:44Z","cross_cats_sorted":[],"title_canon_sha256":"c9a48bfcfaab6818e0bdf0c6f9a0e16645e88717bf81f321c258ff9dc6eee6e8","abstract_canon_sha256":"59efe97cd0f9ea323408649b643444a7470c05d8facc90d8329c08209a20ed23"},"schema_version":"1.0"},"canonical_sha256":"39ad6e1a549b4b6d7e37633ddbf681b1af5c843b65c8010eb6cc568bae6b0ee1","source":{"kind":"arxiv","id":"1511.05186","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1511.05186","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"arxiv_version","alias_value":"1511.05186v2","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1511.05186","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"pith_short_12","alias_value":"HGWW4GSUTNFW","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_16","alias_value":"HGWW4GSUTNFW27RX","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_8","alias_value":"HGWW4GSU","created_at":"2026-05-18T12:29:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:HGWW4GSUTNFW27RXMM65X5UBWG","target":"record","payload":{"canonical_record":{"source":{"id":"1511.05186","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-11-16T21:28:44Z","cross_cats_sorted":[],"title_canon_sha256":"c9a48bfcfaab6818e0bdf0c6f9a0e16645e88717bf81f321c258ff9dc6eee6e8","abstract_canon_sha256":"59efe97cd0f9ea323408649b643444a7470c05d8facc90d8329c08209a20ed23"},"schema_version":"1.0"},"canonical_sha256":"39ad6e1a549b4b6d7e37633ddbf681b1af5c843b65c8010eb6cc568bae6b0ee1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:58:57.558260Z","signature_b64":"Es5WXHftP7r5rVSe2dv9tA65uT7ORreY0ik5gIlW4kiqjlsn03SEdCv2tCGTt2U2nAshkJJkhdkrJjjJPsjYBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39ad6e1a549b4b6d7e37633ddbf681b1af5c843b65c8010eb6cc568bae6b0ee1","last_reissued_at":"2026-05-18T00:58:57.557761Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:58:57.557761Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1511.05186","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:58:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yOBbBCnIOwWAS4g5DDftoQ8d89TCIXfWJ6jAT8jUcX7LgOhC4vdrKQIlLeRC79nJbmC4Z9Iv4ve777yHks9ECA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T09:03:17.128229Z"},"content_sha256":"a52f7a8ef81fdc004aa0d4a88e9c98c101de43dde1c919756823e8a7586d8549","schema_version":"1.0","event_id":"sha256:a52f7a8ef81fdc004aa0d4a88e9c98c101de43dde1c919756823e8a7586d8549"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:HGWW4GSUTNFW27RXMM65X5UBWG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amirhossein Tamjidi, Mohammadhussein Rafieisakhaei, P. R. Kumar, Suman Chakravorty","submitted_at":"2015-11-16T21:28:44Z","abstract_excerpt":"Planning under process and measurement uncertainties is a challenging problem. In its most general form it can be modeled as a Partially Observed Markov Decision Process (POMDP) problem. However POMDPs are generally difficult to solve when the underlying spaces are continuous, particularly when beliefs are non-Gaussian, and the difficulty is further exacerbated when there are also non-convex constraints on states. Existing algorithms to address such challenging POMDPs are expensive in terms of computation and memory. In this paper, we provide a feedback policy in non-Gaussian belief space via "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1511.05186","kind":"arxiv","version":2},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:58:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/0QiXA74PsR3v/LhMT+mSfV5u1PTa5gTNP3yti+arELRUSfpmf9LiIlwumqMRa4f8UcXyKYJ9aSpqBRj9bnIAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T09:03:17.128646Z"},"content_sha256":"6c339c8f77f5c398adb29955c51300ffd581c6e1dc1453478c5fcaf4f999fe25","schema_version":"1.0","event_id":"sha256:6c339c8f77f5c398adb29955c51300ffd581c6e1dc1453478c5fcaf4f999fe25"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HGWW4GSUTNFW27RXMM65X5UBWG/bundle.json","state_url":"https://pith.science/pith/HGWW4GSUTNFW27RXMM65X5UBWG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HGWW4GSUTNFW27RXMM65X5UBWG/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":"2026-05-21T09:03:17Z","links":{"resolver":"https://pith.science/pith/HGWW4GSUTNFW27RXMM65X5UBWG","bundle":"https://pith.science/pith/HGWW4GSUTNFW27RXMM65X5UBWG/bundle.json","state":"https://pith.science/pith/HGWW4GSUTNFW27RXMM65X5UBWG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HGWW4GSUTNFW27RXMM65X5UBWG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:HGWW4GSUTNFW27RXMM65X5UBWG","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":"59efe97cd0f9ea323408649b643444a7470c05d8facc90d8329c08209a20ed23","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-11-16T21:28:44Z","title_canon_sha256":"c9a48bfcfaab6818e0bdf0c6f9a0e16645e88717bf81f321c258ff9dc6eee6e8"},"schema_version":"1.0","source":{"id":"1511.05186","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1511.05186","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"arxiv_version","alias_value":"1511.05186v2","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1511.05186","created_at":"2026-05-18T00:58:57Z"},{"alias_kind":"pith_short_12","alias_value":"HGWW4GSUTNFW","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_16","alias_value":"HGWW4GSUTNFW27RX","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_8","alias_value":"HGWW4GSU","created_at":"2026-05-18T12:29:25Z"}],"graph_snapshots":[{"event_id":"sha256:6c339c8f77f5c398adb29955c51300ffd581c6e1dc1453478c5fcaf4f999fe25","target":"graph","created_at":"2026-05-18T00:58:57Z","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":"Planning under process and measurement uncertainties is a challenging problem. In its most general form it can be modeled as a Partially Observed Markov Decision Process (POMDP) problem. However POMDPs are generally difficult to solve when the underlying spaces are continuous, particularly when beliefs are non-Gaussian, and the difficulty is further exacerbated when there are also non-convex constraints on states. Existing algorithms to address such challenging POMDPs are expensive in terms of computation and memory. In this paper, we provide a feedback policy in non-Gaussian belief space via ","authors_text":"Amirhossein Tamjidi, Mohammadhussein Rafieisakhaei, P. R. Kumar, Suman Chakravorty","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-11-16T21:28:44Z","title":"Feedback Motion Planning Under Non-Gaussian Uncertainty and Non-Convex State Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1511.05186","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:a52f7a8ef81fdc004aa0d4a88e9c98c101de43dde1c919756823e8a7586d8549","target":"record","created_at":"2026-05-18T00:58:57Z","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":"59efe97cd0f9ea323408649b643444a7470c05d8facc90d8329c08209a20ed23","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-11-16T21:28:44Z","title_canon_sha256":"c9a48bfcfaab6818e0bdf0c6f9a0e16645e88717bf81f321c258ff9dc6eee6e8"},"schema_version":"1.0","source":{"id":"1511.05186","kind":"arxiv","version":2}},"canonical_sha256":"39ad6e1a549b4b6d7e37633ddbf681b1af5c843b65c8010eb6cc568bae6b0ee1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39ad6e1a549b4b6d7e37633ddbf681b1af5c843b65c8010eb6cc568bae6b0ee1","first_computed_at":"2026-05-18T00:58:57.557761Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:58:57.557761Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Es5WXHftP7r5rVSe2dv9tA65uT7ORreY0ik5gIlW4kiqjlsn03SEdCv2tCGTt2U2nAshkJJkhdkrJjjJPsjYBg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:58:57.558260Z","signed_message":"canonical_sha256_bytes"},"source_id":"1511.05186","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a52f7a8ef81fdc004aa0d4a88e9c98c101de43dde1c919756823e8a7586d8549","sha256:6c339c8f77f5c398adb29955c51300ffd581c6e1dc1453478c5fcaf4f999fe25"],"state_sha256":"726c196bb0aba706c04aaec54ba7dc6db8f4e584c9c1d7496d66cd34ca7ba062"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TIbdIwwOuffPvNWUk46zxIUjgS7TtCFKahv8hbsIYPojS/HKmsU1OowyiFLcrH5jMkfRKWXloJbJTXl9NMs6Bw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-21T09:03:17.130944Z","bundle_sha256":"119b823410d4ef0696312c58eaac81a43ea08c3688ddbb47b6ac0d2c3f714f4e"}}