{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:LP75ZSGXPY7TN4Q7UUV2I77TLI","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":"86a1f8e22d2202d9f75b48c43737a835b6a4e19520eba2bffac241a1ebda394f","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-20T12:54:00Z","title_canon_sha256":"53491b5bd64de0e251acd3b31cee32bd7f27e1f3e8762ee3c4c930bab830b55c"},"schema_version":"1.0","source":{"id":"1908.07311","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.07311","created_at":"2026-07-04T23:58:33Z"},{"alias_kind":"arxiv_version","alias_value":"1908.07311v1","created_at":"2026-07-04T23:58:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.07311","created_at":"2026-07-04T23:58:33Z"},{"alias_kind":"pith_short_12","alias_value":"LP75ZSGXPY7T","created_at":"2026-07-04T23:58:33Z"},{"alias_kind":"pith_short_16","alias_value":"LP75ZSGXPY7TN4Q7","created_at":"2026-07-04T23:58:33Z"},{"alias_kind":"pith_short_8","alias_value":"LP75ZSGX","created_at":"2026-07-04T23:58:33Z"}],"graph_snapshots":[{"event_id":"sha256:f32be4dfe25333a64d6492a0a6b3e78b1da225ed2d603d473a9c1cda8b5140e8","target":"graph","created_at":"2026-07-04T23:58:33Z","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/1908.07311/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types of planners: An A* implementation that quickly finds the global shortest piecewise linear path on a uniformly discretized map, and an optimal control-based trajectory planner which takes into account ASV dynamics. Firstly, we propose an improvement to the discretization of the map by switching to a Voronoi diagram rather than the uniform discretization, which offers a far more sparse search tree for the A* implementat","authors_text":"Anastasios M. Lekkas, Glenn Bitar, Morten Breivik","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-20T12:54:00Z","title":"Improvements to Warm-Started Optimized Trajectory Planning for ASVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.07311","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:ab96fcd949fb5693f496556cd6a77a2341cf6f3839414ab15bc726f88ed7a785","target":"record","created_at":"2026-07-04T23:58:33Z","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":"86a1f8e22d2202d9f75b48c43737a835b6a4e19520eba2bffac241a1ebda394f","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-20T12:54:00Z","title_canon_sha256":"53491b5bd64de0e251acd3b31cee32bd7f27e1f3e8762ee3c4c930bab830b55c"},"schema_version":"1.0","source":{"id":"1908.07311","kind":"arxiv","version":1}},"canonical_sha256":"5bffdcc8d77e3f36f21fa52ba47ff35a19851dec9a9d37a2bc4e7293e0657641","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5bffdcc8d77e3f36f21fa52ba47ff35a19851dec9a9d37a2bc4e7293e0657641","first_computed_at":"2026-07-04T23:58:33.036636Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:58:33.036636Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pM7zR/1+CSAQRh0vfIVO54kLnErW2F2wrdIH3YewATq5f2OXN2KCJXp/2cIq7FwXEGixeayDLVnuJMRVsgxMCA==","signature_status":"signed_v1","signed_at":"2026-07-04T23:58:33.036982Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.07311","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ab96fcd949fb5693f496556cd6a77a2341cf6f3839414ab15bc726f88ed7a785","sha256:f32be4dfe25333a64d6492a0a6b3e78b1da225ed2d603d473a9c1cda8b5140e8"],"state_sha256":"ea571101120bc65e2717f288d7a7a017fbafa56e916f7ad896c6be3bb2718e59"}