{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IKNX2AELX6IV3SE2R3QR454ATL","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":"f7fee764dc07716baa0e101ab92c73549a3dbf6e5af59c29139b433eede1192e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T18:59:00Z","title_canon_sha256":"39c154beeaa55b8c527cedf76e698264d2a81002bae484615f5de61a281ef1c5"},"schema_version":"1.0","source":{"id":"2407.19046","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.19046","created_at":"2026-07-05T08:49:12Z"},{"alias_kind":"arxiv_version","alias_value":"2407.19046v1","created_at":"2026-07-05T08:49:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.19046","created_at":"2026-07-05T08:49:12Z"},{"alias_kind":"pith_short_12","alias_value":"IKNX2AELX6IV","created_at":"2026-07-05T08:49:12Z"},{"alias_kind":"pith_short_16","alias_value":"IKNX2AELX6IV3SE2","created_at":"2026-07-05T08:49:12Z"},{"alias_kind":"pith_short_8","alias_value":"IKNX2AEL","created_at":"2026-07-05T08:49:12Z"}],"graph_snapshots":[{"event_id":"sha256:1bbd6c041a280024b5ed731aaeaef563490ba379e071e2e591f8eee38ee1f45c","target":"graph","created_at":"2026-07-05T08:49:12Z","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/2407.19046/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by leveraging the ubiquity and unique anomalies of external magnetic fields. This paper proposes a real-time uncertainty-aware motion planning algorithm for MagNav, using onboard magnetometers and information-driven methodologies to adjust trajectories based on real-time localization confidence. This approach balances the trade-off between finding the shortest o","authors_text":"Aditya Penumarti, Humberto Ramos, Jane Shin, Kevin Brink, Kristy Waters","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T18:59:00Z","title":"Real-time Uncertainty-Aware Motion Planning for Magnetic-based Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.19046","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":"sha256:6018a90c3ccc3fb159f0fd413a8108c85315d7f7859c004974bfcaf4a4ad49e9","target":"record","created_at":"2026-07-05T08:49:12Z","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":"f7fee764dc07716baa0e101ab92c73549a3dbf6e5af59c29139b433eede1192e","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-26T18:59:00Z","title_canon_sha256":"39c154beeaa55b8c527cedf76e698264d2a81002bae484615f5de61a281ef1c5"},"schema_version":"1.0","source":{"id":"2407.19046","kind":"arxiv","version":1}},"canonical_sha256":"429b7d008bbf915dc89a8ee11e77809af217ba32f1b3cfc8fd1686aa2adaf1ea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"429b7d008bbf915dc89a8ee11e77809af217ba32f1b3cfc8fd1686aa2adaf1ea","first_computed_at":"2026-07-05T08:49:12.889339Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:49:12.889339Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hQZ/1a6cb9KZMAhsROujH9xW+5ic1dKq9cRAQYzXETxSJtajzIUc4lgcxFLYBvn3fwV+pyrSxOQZif1VtyzEAA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:49:12.889789Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.19046","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6018a90c3ccc3fb159f0fd413a8108c85315d7f7859c004974bfcaf4a4ad49e9","sha256:1bbd6c041a280024b5ed731aaeaef563490ba379e071e2e591f8eee38ee1f45c"],"state_sha256":"74418ca93e2bb29a1a4fc9c6ab8f678b04fc4e209035c425748596f664e36ded"}