{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:IZVLWKLHCRH3T7IV6TVQLTVXJ2","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":"c1da083361fb4c40dbbc81c2da1ef3b7e46eda4b07283ff47ca1f81e3907e562","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-11T14:56:15Z","title_canon_sha256":"80153bd8390890e2b2476b6aa0cb2170e808d1795e674b51119b58fdd058a40a"},"schema_version":"1.0","source":{"id":"2002.04440","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.04440","created_at":"2026-07-05T01:57:50Z"},{"alias_kind":"arxiv_version","alias_value":"2002.04440v2","created_at":"2026-07-05T01:57:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.04440","created_at":"2026-07-05T01:57:50Z"},{"alias_kind":"pith_short_12","alias_value":"IZVLWKLHCRH3","created_at":"2026-07-05T01:57:50Z"},{"alias_kind":"pith_short_16","alias_value":"IZVLWKLHCRH3T7IV","created_at":"2026-07-05T01:57:50Z"},{"alias_kind":"pith_short_8","alias_value":"IZVLWKLH","created_at":"2026-07-05T01:57:50Z"}],"graph_snapshots":[{"event_id":"sha256:52cc7fd1e5c8231b009aa13b80ea4f60adc2f0ced232c27d26c8a22bc8c26c21","target":"graph","created_at":"2026-07-05T01:57:50Z","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/2002.04440/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration strategy is the reduction of map entropy regarding occupancy probabilities, which is reflected in a utility function to be maximised. We achieve fast and efficient exploration performance with tight integration between our octree-based occupancy mapping approach, frontier extraction, and motion planning-as a hybrid between frontier-based and sampling-based expl","authors_text":"Anna Dai, Dimos Tzoumanikas, Nils Funk, Sotiris Papatheodorou, Stefan Leutenegger","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-11T14:56:15Z","title":"Fast Frontier-based Information-driven Autonomous Exploration with an MAV"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.04440","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":"sha256:6e26741aa75931867441ccacf3a34c9c28115efee07ff37b710f523a34f719b9","target":"record","created_at":"2026-07-05T01:57:50Z","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":"c1da083361fb4c40dbbc81c2da1ef3b7e46eda4b07283ff47ca1f81e3907e562","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-11T14:56:15Z","title_canon_sha256":"80153bd8390890e2b2476b6aa0cb2170e808d1795e674b51119b58fdd058a40a"},"schema_version":"1.0","source":{"id":"2002.04440","kind":"arxiv","version":2}},"canonical_sha256":"466abb2967144fb9fd15f4eb05ceb74e93da459b734e5a908edd9b252efbd221","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"466abb2967144fb9fd15f4eb05ceb74e93da459b734e5a908edd9b252efbd221","first_computed_at":"2026-07-05T01:57:50.012409Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:57:50.012409Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5CWU1SPhZEb/eizReYI8xdT2fio2jc5maWqXUTQNdR+IMeHnlOICu6usD0OB0nAspg0uxZqfSZSFjLhPsd5dCA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:57:50.012793Z","signed_message":"canonical_sha256_bytes"},"source_id":"2002.04440","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6e26741aa75931867441ccacf3a34c9c28115efee07ff37b710f523a34f719b9","sha256:52cc7fd1e5c8231b009aa13b80ea4f60adc2f0ced232c27d26c8a22bc8c26c21"],"state_sha256":"bdde80c7402b360148550940729386b28911bb4731fa4444dd39bbdb9f8e69e8"}