{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:JXCBW7YN6L5MZ62BOASISW55B4","short_pith_number":"pith:JXCBW7YN","canonical_record":{"source":{"id":"1907.02696","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-07-05T06:54:10Z","cross_cats_sorted":["cs.RO","cs.SY","math.OC"],"title_canon_sha256":"6fe562302b90257f4244dbfa73d556790784f377a0769350cb893d96c3c2526d","abstract_canon_sha256":"5d1737f2c8946f905826c842ef98e2029a154227b65dadf32362ddc9eda7cdb2"},"schema_version":"1.0"},"canonical_sha256":"4dc41b7f0df2faccfb417024895bbd0f06c4ebaab45e45340babbf0ceaedfade","source":{"kind":"arxiv","id":"1907.02696","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.02696","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"arxiv_version","alias_value":"1907.02696v1","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.02696","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"pith_short_12","alias_value":"JXCBW7YN6L5M","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"JXCBW7YN6L5MZ62B","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"JXCBW7YN","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:JXCBW7YN6L5MZ62BOASISW55B4","target":"record","payload":{"canonical_record":{"source":{"id":"1907.02696","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-07-05T06:54:10Z","cross_cats_sorted":["cs.RO","cs.SY","math.OC"],"title_canon_sha256":"6fe562302b90257f4244dbfa73d556790784f377a0769350cb893d96c3c2526d","abstract_canon_sha256":"5d1737f2c8946f905826c842ef98e2029a154227b65dadf32362ddc9eda7cdb2"},"schema_version":"1.0"},"canonical_sha256":"4dc41b7f0df2faccfb417024895bbd0f06c4ebaab45e45340babbf0ceaedfade","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:41:23.453785Z","signature_b64":"QyXF58VEFvPEVAxfPNiaAhZjKvUFufwXmdaxxTvRkUSWYKSLNPqs64Yf09oINnijK9r06VfhqUOK56imH2WYBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4dc41b7f0df2faccfb417024895bbd0f06c4ebaab45e45340babbf0ceaedfade","last_reissued_at":"2026-05-17T23:41:23.453084Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:41:23.453084Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.02696","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":"2026-05-17T23:41:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/s2WEFp7vahc1x45GRQEmV9R32LHhpV9de8SVQFb/Kezz10y8HiRNhA0Rj9AOfKFM4+/6bIQABXY+2LOG0oiCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:54:29.716577Z"},"content_sha256":"337e44d992cbcdb258500c12f0da06fa1ffffb99b7ba8ec897b67772dd5618e8","schema_version":"1.0","event_id":"sha256:337e44d992cbcdb258500c12f0da06fa1ffffb99b7ba8ec897b67772dd5618e8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:JXCBW7YN6L5MZ62BOASISW55B4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Warm-Started Optimized Trajectory Planning for ASVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Anastasios M. Lekkas, Glenn Bitar, Morten Breivik, Vegard N. Vestad","submitted_at":"2019-07-05T06:54:10Z","abstract_excerpt":"We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal control-based trajectory planner. A nonlinear 3-degree-of-freedom underactuated model of an ASV is considered, along with an objective functional that promotes energy-efficient and readily observable maneuvers. The A* algorithm is guaranteed to find the shortest piecewise linear path to the goal position based on a uniformly decomposed map. Dynamic informatio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.02696","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":""},"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":"2026-05-17T23:41:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lQC1PXdUghcWi85e+K3TIazBc/dpn6sKGeEWRCRUYbqjE+Cr8XdUu9e876UZzvlTWt4dR9ieAkJqhdi30CRJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T01:54:29.717146Z"},"content_sha256":"d0862d2022a52f54aececc6834eb34ffb23fac4303636312912541a774b5ef89","schema_version":"1.0","event_id":"sha256:d0862d2022a52f54aececc6834eb34ffb23fac4303636312912541a774b5ef89"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JXCBW7YN6L5MZ62BOASISW55B4/bundle.json","state_url":"https://pith.science/pith/JXCBW7YN6L5MZ62BOASISW55B4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JXCBW7YN6L5MZ62BOASISW55B4/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":"2026-05-26T01:54:29Z","links":{"resolver":"https://pith.science/pith/JXCBW7YN6L5MZ62BOASISW55B4","bundle":"https://pith.science/pith/JXCBW7YN6L5MZ62BOASISW55B4/bundle.json","state":"https://pith.science/pith/JXCBW7YN6L5MZ62BOASISW55B4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JXCBW7YN6L5MZ62BOASISW55B4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:JXCBW7YN6L5MZ62BOASISW55B4","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":"5d1737f2c8946f905826c842ef98e2029a154227b65dadf32362ddc9eda7cdb2","cross_cats_sorted":["cs.RO","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-07-05T06:54:10Z","title_canon_sha256":"6fe562302b90257f4244dbfa73d556790784f377a0769350cb893d96c3c2526d"},"schema_version":"1.0","source":{"id":"1907.02696","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.02696","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"arxiv_version","alias_value":"1907.02696v1","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.02696","created_at":"2026-05-17T23:41:23Z"},{"alias_kind":"pith_short_12","alias_value":"JXCBW7YN6L5M","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"JXCBW7YN6L5MZ62B","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"JXCBW7YN","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:d0862d2022a52f54aececc6834eb34ffb23fac4303636312912541a774b5ef89","target":"graph","created_at":"2026-05-17T23:41:23Z","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":"We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal control-based trajectory planner. A nonlinear 3-degree-of-freedom underactuated model of an ASV is considered, along with an objective functional that promotes energy-efficient and readily observable maneuvers. The A* algorithm is guaranteed to find the shortest piecewise linear path to the goal position based on a uniformly decomposed map. Dynamic informatio","authors_text":"Anastasios M. Lekkas, Glenn Bitar, Morten Breivik, Vegard N. Vestad","cross_cats":["cs.RO","cs.SY","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-07-05T06:54:10Z","title":"Warm-Started Optimized Trajectory Planning for ASVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.02696","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":"sha256:337e44d992cbcdb258500c12f0da06fa1ffffb99b7ba8ec897b67772dd5618e8","target":"record","created_at":"2026-05-17T23:41:23Z","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":"5d1737f2c8946f905826c842ef98e2029a154227b65dadf32362ddc9eda7cdb2","cross_cats_sorted":["cs.RO","cs.SY","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-07-05T06:54:10Z","title_canon_sha256":"6fe562302b90257f4244dbfa73d556790784f377a0769350cb893d96c3c2526d"},"schema_version":"1.0","source":{"id":"1907.02696","kind":"arxiv","version":1}},"canonical_sha256":"4dc41b7f0df2faccfb417024895bbd0f06c4ebaab45e45340babbf0ceaedfade","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4dc41b7f0df2faccfb417024895bbd0f06c4ebaab45e45340babbf0ceaedfade","first_computed_at":"2026-05-17T23:41:23.453084Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:23.453084Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QyXF58VEFvPEVAxfPNiaAhZjKvUFufwXmdaxxTvRkUSWYKSLNPqs64Yf09oINnijK9r06VfhqUOK56imH2WYBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:23.453785Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.02696","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:337e44d992cbcdb258500c12f0da06fa1ffffb99b7ba8ec897b67772dd5618e8","sha256:d0862d2022a52f54aececc6834eb34ffb23fac4303636312912541a774b5ef89"],"state_sha256":"4d0c8541985f1ecdaff356650e73363b0835e00273da95e5240fb29043fb720c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hvZWJS+LjOiHrfMSVd1/ENAbPohMxr+dKcB0O14c0i04jJ9bjzH3AemVYw+9v+nc6ZZU2shZgfq16W1k5neXCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T01:54:29.720761Z","bundle_sha256":"ed4fe2264534ea5cb41e63e36ea40c4adb3ac44d42dd62cd7cd5a69c38b4617b"}}