{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:KMDYUL7IQFF7WMN6W6FI2CYDSX","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":"f1ffae85947b8a1d79e1ad6341f528fab49f7c98a8079a6bc1b1935db8aeaa2f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-12T02:22:17Z","title_canon_sha256":"60efc029b1c206ca11e0a1f78e9faf2f87add0ba264ccb918936a95cb202ce1a"},"schema_version":"1.0","source":{"id":"2203.06316","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2203.06316","created_at":"2026-07-05T04:04:49Z"},{"alias_kind":"arxiv_version","alias_value":"2203.06316v1","created_at":"2026-07-05T04:04:49Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.06316","created_at":"2026-07-05T04:04:49Z"},{"alias_kind":"pith_short_12","alias_value":"KMDYUL7IQFF7","created_at":"2026-07-05T04:04:49Z"},{"alias_kind":"pith_short_16","alias_value":"KMDYUL7IQFF7WMN6","created_at":"2026-07-05T04:04:49Z"},{"alias_kind":"pith_short_8","alias_value":"KMDYUL7I","created_at":"2026-07-05T04:04:49Z"}],"graph_snapshots":[{"event_id":"sha256:b12b8948ae1bd170cea527a8963b44d2078011d09e7ef488b1f21fc37c35f122","target":"graph","created_at":"2026-07-05T04:04:49Z","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/2203.06316/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a method for autonomous exploration of large-scale unknown environments under mission time constraints. We start by proposing the Frontloaded Information Gain Orienteering Problem (FIG-OP) -- a generalization of the traditional orienteering problem where the assumption of a reliable environmental model no longer holds. The FIG-OP addresses model uncertainty by frontloading expected information gain through the addition of a greedy incentive, effectively expediting the moment in which new area is uncovered. In order to reason across multi-kilometre environments, we solve FIG-OP over ","authors_text":"Ali-akbar Agha-mohammadi, Amanda Bouman, Harrison Delecki, Joel Burdick, Joshua Ott, Mac Schwager, Mamoru Sobue, Mykel Kochenderfer, Oriana Peltzer, Ransalu Senanayake, Sung-Kyun Kim","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-12T02:22:17Z","title":"FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.06316","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":"sha256:53a66565e7d05c92b1dd1311a0c38b568737e7f2f1f235b93342ff80a511106d","target":"record","created_at":"2026-07-05T04:04:49Z","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":"f1ffae85947b8a1d79e1ad6341f528fab49f7c98a8079a6bc1b1935db8aeaa2f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-12T02:22:17Z","title_canon_sha256":"60efc029b1c206ca11e0a1f78e9faf2f87add0ba264ccb918936a95cb202ce1a"},"schema_version":"1.0","source":{"id":"2203.06316","kind":"arxiv","version":1}},"canonical_sha256":"53078a2fe8814bfb31beb78a8d0b0395fd738bc635b3239c6c87e5fd3a4b618a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"53078a2fe8814bfb31beb78a8d0b0395fd738bc635b3239c6c87e5fd3a4b618a","first_computed_at":"2026-07-05T04:04:49.571418Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:04:49.571418Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"01de79QIUpHEjXh/lqJPcPqtvRrH902VLw5ayNz29+x3V6FSBiw5Cr4ZskviuAtnsJ03juyCk4Fhx35TWFbtDw==","signature_status":"signed_v1","signed_at":"2026-07-05T04:04:49.571977Z","signed_message":"canonical_sha256_bytes"},"source_id":"2203.06316","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:53a66565e7d05c92b1dd1311a0c38b568737e7f2f1f235b93342ff80a511106d","sha256:b12b8948ae1bd170cea527a8963b44d2078011d09e7ef488b1f21fc37c35f122"],"state_sha256":"0b450bd78803f7d4d46d62b026fceedb80a536eedeecc08fa2f41a832e4bb02b"}