{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:LLKHQRLLG55A2ZHN52FT4BLC3Z","short_pith_number":"pith:LLKHQRLL","schema_version":"1.0","canonical_sha256":"5ad478456b377a0d64edee8b3e0562de40198da21e0d5dda748bfdfd47599aa3","source":{"kind":"arxiv","id":"2606.20495","version":1},"attestation_state":"computed","paper":{"title":"Increasing Resilience of Continuum Robots via Motion Planning Algorithms","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ievgen Kabin, Oleksandr Sudakov, Oxana Shamilyan, Peter Langendoerfer, Zoya Dyka","submitted_at":"2026-06-18T17:10:13Z","abstract_excerpt":"This paper presents an experimental study of motion planning for resilient continuum robots. In this study we mainly focused on multi-criteria decision-making, its application for path-planning algorithms, impact on the generated path and execution time. To do this, we used two well-known algorithms for path planning, namely Genetic algorithm and A star algorithm, and modified them by adding the Analytical Hierarchy Process algorithm to evaluate the quality of the paths generated. In our experiment the Analytical Hierarchy Process considers four different criteria, i.e. distance, motors damage"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.20495","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T17:10:13Z","cross_cats_sorted":[],"title_canon_sha256":"4c1e22875278c7bde9c439dce1f9785be15e1be735299501efdb61a5d5f4fd77","abstract_canon_sha256":"bb4786a114f9711223aef7cb15fc8a8749e4caf8533c72d22b5f6674b86f5fce"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:13:13.715903Z","signature_b64":"NsFD0Vw//kVKySo09drvzfBXIjfuxx714+/UXngdW6arKeK51ceLgKL7T6hJw2JLNEcsl4EEif+rTmJ7oBnAAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5ad478456b377a0d64edee8b3e0562de40198da21e0d5dda748bfdfd47599aa3","last_reissued_at":"2026-06-19T16:13:13.715561Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:13:13.715561Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Increasing Resilience of Continuum Robots via Motion Planning Algorithms","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ievgen Kabin, Oleksandr Sudakov, Oxana Shamilyan, Peter Langendoerfer, Zoya Dyka","submitted_at":"2026-06-18T17:10:13Z","abstract_excerpt":"This paper presents an experimental study of motion planning for resilient continuum robots. In this study we mainly focused on multi-criteria decision-making, its application for path-planning algorithms, impact on the generated path and execution time. To do this, we used two well-known algorithms for path planning, namely Genetic algorithm and A star algorithm, and modified them by adding the Analytical Hierarchy Process algorithm to evaluate the quality of the paths generated. In our experiment the Analytical Hierarchy Process considers four different criteria, i.e. distance, motors damage"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.20495","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.20495/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.20495","created_at":"2026-06-19T16:13:13.715618+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.20495v1","created_at":"2026-06-19T16:13:13.715618+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.20495","created_at":"2026-06-19T16:13:13.715618+00:00"},{"alias_kind":"pith_short_12","alias_value":"LLKHQRLLG55A","created_at":"2026-06-19T16:13:13.715618+00:00"},{"alias_kind":"pith_short_16","alias_value":"LLKHQRLLG55A2ZHN","created_at":"2026-06-19T16:13:13.715618+00:00"},{"alias_kind":"pith_short_8","alias_value":"LLKHQRLL","created_at":"2026-06-19T16:13:13.715618+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z","json":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z.json","graph_json":"https://pith.science/api/pith-number/LLKHQRLLG55A2ZHN52FT4BLC3Z/graph.json","events_json":"https://pith.science/api/pith-number/LLKHQRLLG55A2ZHN52FT4BLC3Z/events.json","paper":"https://pith.science/paper/LLKHQRLL"},"agent_actions":{"view_html":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z","download_json":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z.json","view_paper":"https://pith.science/paper/LLKHQRLL","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.20495&json=true","fetch_graph":"https://pith.science/api/pith-number/LLKHQRLLG55A2ZHN52FT4BLC3Z/graph.json","fetch_events":"https://pith.science/api/pith-number/LLKHQRLLG55A2ZHN52FT4BLC3Z/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z/action/timestamp_anchor","attest_storage":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z/action/storage_attestation","attest_author":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z/action/author_attestation","sign_citation":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z/action/citation_signature","submit_replication":"https://pith.science/pith/LLKHQRLLG55A2ZHN52FT4BLC3Z/action/replication_record"}},"created_at":"2026-06-19T16:13:13.715618+00:00","updated_at":"2026-06-19T16:13:13.715618+00:00"}