{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:K4TILQA2BLBTCGF4OJE4FLH65P","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":"aaa3919fe18021420a869709919cc38410a0dc8dd398619a6728fdb5e5c7bdf8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T14:37:20Z","title_canon_sha256":"c2d7564d3851bcdf59961cc2ac819742879e91aa5a6daadaca5175d1854360dc"},"schema_version":"1.0","source":{"id":"1805.08089","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.08089","created_at":"2026-05-18T00:15:31Z"},{"alias_kind":"arxiv_version","alias_value":"1805.08089v1","created_at":"2026-05-18T00:15:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.08089","created_at":"2026-05-18T00:15:31Z"},{"alias_kind":"pith_short_12","alias_value":"K4TILQA2BLBT","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_16","alias_value":"K4TILQA2BLBTCGF4","created_at":"2026-05-18T12:32:33Z"},{"alias_kind":"pith_short_8","alias_value":"K4TILQA2","created_at":"2026-05-18T12:32:33Z"}],"graph_snapshots":[{"event_id":"sha256:0e1ec431d7d9ca362ee3a25a5abd43f5557da73dcffd17f95d7ef9e4df885db1","target":"graph","created_at":"2026-05-18T00:15:31Z","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":"There are many situations for which an unmanned ground vehicle has to work with only partial observability of the environment. Therefore, a feasible nonholonomic obstacle avoidance and target tracking action must be generated immediately based on the real-time perceptual information. This paper presents a robust approach to integrating VPH+ (enhanced vector polar histogram) and MPC (model predictive control). VPH+ is applied to calculate the desired direction for its environment perception ability and computational efficiency, while MPC is explored to perform a constrained model-predictive tra","authors_text":"Huiyan Chen, Jianwei Gong, Kai Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T14:37:20Z","title":"VPH+ and MPC Combined Collision Avoidance for Unmanned Ground Vehicle in Unknown Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.08089","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:ab847edf7b7edae87a54bbf21aebeb68364a66f83779f241d589dd3772b3731b","target":"record","created_at":"2026-05-18T00:15:31Z","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":"aaa3919fe18021420a869709919cc38410a0dc8dd398619a6728fdb5e5c7bdf8","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T14:37:20Z","title_canon_sha256":"c2d7564d3851bcdf59961cc2ac819742879e91aa5a6daadaca5175d1854360dc"},"schema_version":"1.0","source":{"id":"1805.08089","kind":"arxiv","version":1}},"canonical_sha256":"572685c01a0ac33118bc7249c2acfeebe99953753fcc33bb51226328ad775a3e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"572685c01a0ac33118bc7249c2acfeebe99953753fcc33bb51226328ad775a3e","first_computed_at":"2026-05-18T00:15:31.726059Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:15:31.726059Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"f1LKS2bza4ZSVPH1R2d1NmIXm6/c/R1FErHxeVda+nG+8EzIIcRjf8s75AA7UVssUmTpLSvbyxJH0OpIofJFCw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:15:31.727020Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.08089","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ab847edf7b7edae87a54bbf21aebeb68364a66f83779f241d589dd3772b3731b","sha256:0e1ec431d7d9ca362ee3a25a5abd43f5557da73dcffd17f95d7ef9e4df885db1"],"state_sha256":"9a91200fab4de55b780f1154943abe6a30359fcfdc6a58dde77c59bc477e89ed"}