Pith Number

pith:LEL7FYL5

pith:2026:LEL7FYL54ALI35HRMNKKFJK2VM

not attested not anchored not stored refs pending

Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness

Clayton W. Ramsey, Lydia E. Kavraki, Thai Duong, Wil Thomason, Zachary Kingston

FLASK solves kinodynamic planning for flat robots by turning boundary problems into analytical flat-output trajectories.

arxiv:2603.16059 v3 · 2026-03-17 · cs.RO

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\pithnumber{LEL7FYL54ALI35HRMNKKFJK2VM}

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Record completeness

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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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

Our framework is fast, exact, and compatible with any sampling-based motion planner, while offering theoretical guarantees on probabilistic exhaustibility and asymptotic optimality based on the closed-form BVP solutions.

C2weakest assumption

The target robot systems must be differentially flat so that an analytical time-parameterized solution of the two-point boundary-value problem exists in the flat output space.

C3one line summary

FLASK uses differential flatness for closed-form BVP solutions in sampling-based kinodynamic planning, delivering microsecond-scale times with theoretical guarantees for flat systems like manipulators and vehicles.

Receipt and verification

First computed	2026-07-31T01:10:31.538678Z
Builder	pith-number-builder-2026-05-17-v1
Signature	unsigned_v0
Schema	pith-number/v1.0

Canonical hash

5917f2e17de0168df4f16354a2a55aab28df0d5f51a4dcd31e1c79027827a6a7

Aliases

arxiv: 2603.16059 · arxiv_version: 2603.16059v3 · doi: 10.48550/arxiv.2603.16059 · pith_short_12: LEL7FYL54ALI · pith_short_16: LEL7FYL54ALI35HR · pith_short_8: LEL7FYL5

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/LEL7FYL54ALI35HRMNKKFJK2VM \
  | 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: 5917f2e17de0168df4f16354a2a55aab28df0d5f51a4dcd31e1c79027827a6a7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f30a1000609d39c2ae1c4cd64587e94a1a4e129be2f0f49433d4a44e7de86747",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-17T01:53:10Z",
    "title_canon_sha256": "99d6bd6fe0aa2f882d928bdf74080d84f18bd2fd9ec70687a0044375b781a1bb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.16059",
    "kind": "arxiv",
    "version": 3
  }
}