{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:HNQ46C2WYBMDRU6EKDH2WXJ4SD","short_pith_number":"pith:HNQ46C2W","canonical_record":{"source":{"id":"2408.00846","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-01T18:01:23Z","cross_cats_sorted":[],"title_canon_sha256":"eddd56eb8b6c9b4de1a5ca0b449c8e776896ee73f0faf6ddbaca19db243fc503","abstract_canon_sha256":"4b976df2d5d8938304646c7a924d3fedfedafa36315f10cb247d24e8d1d1dbf2"},"schema_version":"1.0"},"canonical_sha256":"3b61cf0b56c05838d3c450cfab5d3c90d8189ee855b233297f016855f6285669","source":{"kind":"arxiv","id":"2408.00846","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.00846","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"arxiv_version","alias_value":"2408.00846v2","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.00846","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_12","alias_value":"HNQ46C2WYBMD","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_16","alias_value":"HNQ46C2WYBMDRU6E","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_8","alias_value":"HNQ46C2W","created_at":"2026-07-05T09:58:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:HNQ46C2WYBMDRU6EKDH2WXJ4SD","target":"record","payload":{"canonical_record":{"source":{"id":"2408.00846","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-01T18:01:23Z","cross_cats_sorted":[],"title_canon_sha256":"eddd56eb8b6c9b4de1a5ca0b449c8e776896ee73f0faf6ddbaca19db243fc503","abstract_canon_sha256":"4b976df2d5d8938304646c7a924d3fedfedafa36315f10cb247d24e8d1d1dbf2"},"schema_version":"1.0"},"canonical_sha256":"3b61cf0b56c05838d3c450cfab5d3c90d8189ee855b233297f016855f6285669","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:58:59.211122Z","signature_b64":"p6LWvM2kwj5DmFzxZ+mB/6QPF+mT4aftQsFivbkpahYm64NOMvSn1pC7bw/pEuG8ndnCSlbwsMzjIX/DhqW+AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3b61cf0b56c05838d3c450cfab5d3c90d8189ee855b233297f016855f6285669","last_reissued_at":"2026-07-05T09:58:59.210658Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:58:59.210658Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2408.00846","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":"2026-07-05T09:58:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uubffO23L6HtFfGOz/SdTT6zLZCoBDy1JkG6ziSl0LBvXnhiPi67RZliIYUZQYikyDUVk5ssi6JM/6iE3PLhDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T21:14:58.995506Z"},"content_sha256":"a1978d99e902d65434dd917bd642591336ca01969da57e6f22d1575f6ea46f93","schema_version":"1.0","event_id":"sha256:a1978d99e902d65434dd917bd642591336ca01969da57e6f22d1575f6ea46f93"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:HNQ46C2WYBMDRU6EKDH2WXJ4SD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Occupation-aware planning method for robotic monitoring missions in dynamic environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Luis Montano, Yaroslav Marchukov","submitted_at":"2024-08-01T18:01:23Z","abstract_excerpt":"This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission. Numerous local planners have been developed in recent years for navigating highly dynamic environments. However, the absence of a global planner for these environments can result in unavoidable collisions or the inability to successfully complete missions in densely populated areas, such as a scenario monitoring in our case. This work addresses the development and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.00846","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2408.00846/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":"2026-07-05T09:58:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gqT7XLyqjhPMXFg39l7y3cJ1F1bjqpqKneLNC8yjCimEDduhb5fpbLPvWED4NT1Ej4fOsHAAM9Zq2EPethyDDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T21:14:58.997398Z"},"content_sha256":"1ef1091cc20913a1faec77437b9e6ce50b0d95859f4840706ea30760e8a10dab","schema_version":"1.0","event_id":"sha256:1ef1091cc20913a1faec77437b9e6ce50b0d95859f4840706ea30760e8a10dab"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/bundle.json","state_url":"https://pith.science/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/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":"2026-08-15T21:14:58Z","links":{"resolver":"https://pith.science/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD","bundle":"https://pith.science/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/bundle.json","state":"https://pith.science/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HNQ46C2WYBMDRU6EKDH2WXJ4SD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:HNQ46C2WYBMDRU6EKDH2WXJ4SD","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":"4b976df2d5d8938304646c7a924d3fedfedafa36315f10cb247d24e8d1d1dbf2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-01T18:01:23Z","title_canon_sha256":"eddd56eb8b6c9b4de1a5ca0b449c8e776896ee73f0faf6ddbaca19db243fc503"},"schema_version":"1.0","source":{"id":"2408.00846","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2408.00846","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"arxiv_version","alias_value":"2408.00846v2","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.00846","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_12","alias_value":"HNQ46C2WYBMD","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_16","alias_value":"HNQ46C2WYBMDRU6E","created_at":"2026-07-05T09:58:59Z"},{"alias_kind":"pith_short_8","alias_value":"HNQ46C2W","created_at":"2026-07-05T09:58:59Z"}],"graph_snapshots":[{"event_id":"sha256:1ef1091cc20913a1faec77437b9e6ce50b0d95859f4840706ea30760e8a10dab","target":"graph","created_at":"2026-07-05T09:58:59Z","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/2408.00846/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a method for robotic monitoring missions in the presence of moving obstacles. Although the scenario map is known, the robot lacks information about the movement of dynamic obstacles during the monitoring mission. Numerous local planners have been developed in recent years for navigating highly dynamic environments. However, the absence of a global planner for these environments can result in unavoidable collisions or the inability to successfully complete missions in densely populated areas, such as a scenario monitoring in our case. This work addresses the development and ","authors_text":"Luis Montano, Yaroslav Marchukov","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-01T18:01:23Z","title":"Occupation-aware planning method for robotic monitoring missions in dynamic environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.00846","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:a1978d99e902d65434dd917bd642591336ca01969da57e6f22d1575f6ea46f93","target":"record","created_at":"2026-07-05T09:58:59Z","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":"4b976df2d5d8938304646c7a924d3fedfedafa36315f10cb247d24e8d1d1dbf2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-01T18:01:23Z","title_canon_sha256":"eddd56eb8b6c9b4de1a5ca0b449c8e776896ee73f0faf6ddbaca19db243fc503"},"schema_version":"1.0","source":{"id":"2408.00846","kind":"arxiv","version":2}},"canonical_sha256":"3b61cf0b56c05838d3c450cfab5d3c90d8189ee855b233297f016855f6285669","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b61cf0b56c05838d3c450cfab5d3c90d8189ee855b233297f016855f6285669","first_computed_at":"2026-07-05T09:58:59.210658Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:58:59.210658Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"p6LWvM2kwj5DmFzxZ+mB/6QPF+mT4aftQsFivbkpahYm64NOMvSn1pC7bw/pEuG8ndnCSlbwsMzjIX/DhqW+AA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:58:59.211122Z","signed_message":"canonical_sha256_bytes"},"source_id":"2408.00846","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a1978d99e902d65434dd917bd642591336ca01969da57e6f22d1575f6ea46f93","sha256:1ef1091cc20913a1faec77437b9e6ce50b0d95859f4840706ea30760e8a10dab"],"state_sha256":"df9bbc4ff11fcdc8212e6676615b4dc3879e5a2791babc158eab8e785ea270f1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"29wZMZsemxv57N6pwXK05i4PmHXxCBp7NgL1HbGL8pwvoxUK+bn60i2GurM62CoDs2u4rAw89mIjsdUtUb2iBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T21:14:59.001089Z","bundle_sha256":"4c74ed4377cc529ed7b5728de752aa582d355a00bdde3c1a06538e7bd0fd1542"}}