{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:KH3QG6LPLYFIBEQIJ43MBV7XN6","short_pith_number":"pith:KH3QG6LP","canonical_record":{"source":{"id":"1904.09780","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-22T09:15:45Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"c55185510afc393927892ae31342bf75da4055e00fcc1b66f53ac21372f3a768","abstract_canon_sha256":"9da8b55d36146ed0b6f08aee8a2c911c195cd128952c9bab3abcdce55294a3b8"},"schema_version":"1.0"},"canonical_sha256":"51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8","source":{"kind":"arxiv","id":"1904.09780","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.09780","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"arxiv_version","alias_value":"1904.09780v1","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.09780","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"pith_short_12","alias_value":"KH3QG6LPLYFI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KH3QG6LPLYFIBEQI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KH3QG6LP","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:KH3QG6LPLYFIBEQIJ43MBV7XN6","target":"record","payload":{"canonical_record":{"source":{"id":"1904.09780","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-22T09:15:45Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"c55185510afc393927892ae31342bf75da4055e00fcc1b66f53ac21372f3a768","abstract_canon_sha256":"9da8b55d36146ed0b6f08aee8a2c911c195cd128952c9bab3abcdce55294a3b8"},"schema_version":"1.0"},"canonical_sha256":"51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:48:03.361964Z","signature_b64":"1VGulmHEREMaJH8q9r1JzRHBmIyZwuvmIatj7J5gw4jXN4FssXJ18R13B8zvM4zUVZ+5md5TnPfZkjfNBUaYBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8","last_reissued_at":"2026-05-17T23:48:03.361356Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:48:03.361356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.09780","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":"2026-05-17T23:48:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xPbSerx7wfMYEE3tjn7ClxINiNybO725JU8SrKcjDiBPncmnwc7/2rEoByJ00RQMQJhaa1IfkPCo9dQd75SUCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T17:59:39.851450Z"},"content_sha256":"e1a54ff126730ac566be98d1f8f47b51cfce73135a61d7a6fde1f219f53c308a","schema_version":"1.0","event_id":"sha256:e1a54ff126730ac566be98d1f8f47b51cfce73135a61d7a6fde1f219f53c308a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:KH3QG6LPLYFIBEQIJ43MBV7XN6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"Andreas Muller, Andrei Ahonen, Arun Kumar Singh, Reza Ghabcheloo","submitted_at":"2019-04-22T09:15:45Z","abstract_excerpt":"In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and non-convex problem can be solved as a sequence of convex unconstrained quadratic programs (QPs). This is achieved by reformulating the non-linear constraints that arise out of manipulator kinematics and its coupling with the mobile base in a multi-affine form. We then use techniques from Alternating Direction Method of Multipliers (ADMM) to formulate and sol"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.09780","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":"2026-05-17T23:48:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nR/E3HEUQColGH+bJVXkGm/40NCPDn+xuwWbxCMx/vVQF3htyrJEsefjlaWVcgz6UkiMn6gNLc4jVArw3uL7BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T17:59:39.852107Z"},"content_sha256":"00f85bd2dff9789f388052b5aad1c5e09a7b46de4bcc337e16ad05350aa95546","schema_version":"1.0","event_id":"sha256:00f85bd2dff9789f388052b5aad1c5e09a7b46de4bcc337e16ad05350aa95546"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/bundle.json","state_url":"https://pith.science/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/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":"2026-05-27T17:59:39Z","links":{"resolver":"https://pith.science/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6","bundle":"https://pith.science/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/bundle.json","state":"https://pith.science/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KH3QG6LPLYFIBEQIJ43MBV7XN6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KH3QG6LPLYFIBEQIJ43MBV7XN6","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":"9da8b55d36146ed0b6f08aee8a2c911c195cd128952c9bab3abcdce55294a3b8","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-22T09:15:45Z","title_canon_sha256":"c55185510afc393927892ae31342bf75da4055e00fcc1b66f53ac21372f3a768"},"schema_version":"1.0","source":{"id":"1904.09780","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.09780","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"arxiv_version","alias_value":"1904.09780v1","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.09780","created_at":"2026-05-17T23:48:03Z"},{"alias_kind":"pith_short_12","alias_value":"KH3QG6LPLYFI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KH3QG6LPLYFIBEQI","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KH3QG6LP","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:00f85bd2dff9789f388052b5aad1c5e09a7b46de4bcc337e16ad05350aa95546","target":"graph","created_at":"2026-05-17T23:48:03Z","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":"In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and non-convex problem can be solved as a sequence of convex unconstrained quadratic programs (QPs). This is achieved by reformulating the non-linear constraints that arise out of manipulator kinematics and its coupling with the mobile base in a multi-affine form. We then use techniques from Alternating Direction Method of Multipliers (ADMM) to formulate and sol","authors_text":"Andreas Muller, Andrei Ahonen, Arun Kumar Singh, Reza Ghabcheloo","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-22T09:15:45Z","title":"Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.09780","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:e1a54ff126730ac566be98d1f8f47b51cfce73135a61d7a6fde1f219f53c308a","target":"record","created_at":"2026-05-17T23:48:03Z","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":"9da8b55d36146ed0b6f08aee8a2c911c195cd128952c9bab3abcdce55294a3b8","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-22T09:15:45Z","title_canon_sha256":"c55185510afc393927892ae31342bf75da4055e00fcc1b66f53ac21372f3a768"},"schema_version":"1.0","source":{"id":"1904.09780","kind":"arxiv","version":1}},"canonical_sha256":"51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8","first_computed_at":"2026-05-17T23:48:03.361356Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:48:03.361356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1VGulmHEREMaJH8q9r1JzRHBmIyZwuvmIatj7J5gw4jXN4FssXJ18R13B8zvM4zUVZ+5md5TnPfZkjfNBUaYBg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:48:03.361964Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.09780","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e1a54ff126730ac566be98d1f8f47b51cfce73135a61d7a6fde1f219f53c308a","sha256:00f85bd2dff9789f388052b5aad1c5e09a7b46de4bcc337e16ad05350aa95546"],"state_sha256":"7144680555e059804d80fa09d78be144c66c62610d96f90b6c36b3cab2330b48"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"89IcE0/3t/oo6x/LMH6TFzhAtQSMfUdcaF1/ee9m3v72i+CYiL6xwztj0y9wwbtyemRriQmwvU/9TniBK9sFAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T17:59:39.855521Z","bundle_sha256":"4b527bf494cb40b2b3f3550fa57fbd084ab765af3d60b2999a56f72254afc7ec"}}