Pith Number

pith:KOSUZFO4

pith:2026:KOSUZFO46LAOJRAXX5LSF2ZWFZ

not attested not anchored not stored refs pending

Informative Path Planning with Guaranteed Estimation Uncertainty

Jason O'Kane, Kalvik Jakkala, Saurav Agarwal, Srinivas Akella

The shortest path for a robot to measure an environmental field can be computed so that Gaussian process posterior variance stays below any chosen threshold everywhere in the region.

arxiv:2602.05198 v3 · 2026-02-05 · cs.RO

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\usepackage{pith}
\pithnumber{KOSUZFO46LAOJRAXX5LSF2ZWFZ}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

computing the shortest path whose measurements ensure that the Gaussian process (GP) posterior variance -- an intrinsic uncertainty measure that lower-bounds the mean-squared prediction error under the GP model -- is upper bounded by a user-specified threshold over the monitoring region

C2weakest assumption

The GP model learned from prior data accurately captures the true spatial correlations of the environmental field so that posterior variance provides a valid bound on prediction error; this is invoked when transforming the kernel into coverage maps.

C3one line summary

A method computes near-shortest paths guaranteeing GP posterior variance below a threshold over a region by converting kernels to binary coverage maps and solving a budgeted routing problem with approximation guarantees.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-28T01:04:07.810707Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

53a54c95dcf2c0e4c417bf5722eb362e638ba181b39e741d3e628ce5a4292c12

Aliases

arxiv: 2602.05198 · arxiv_version: 2602.05198v3 · doi: 10.48550/arxiv.2602.05198 · pith_short_12: KOSUZFO46LAO · pith_short_16: KOSUZFO46LAOJRAX · pith_short_8: KOSUZFO4

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KOSUZFO46LAOJRAXX5LSF2ZWFZ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 53a54c95dcf2c0e4c417bf5722eb362e638ba181b39e741d3e628ce5a4292c12

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9e572d998636a509cfb748b1207db6f7d76f04ac3a241513dde335712d2c929c",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-02-05T01:51:38Z",
    "title_canon_sha256": "cc7b1ff755f2ea4e869f39c4b98849b4c7c3c60a32d8607a4f671f5fdf12543a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.05198",
    "kind": "arxiv",
    "version": 3
  }
}