{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:LZWQPEHZXKSLKEOZ2ZREXV5QOP","short_pith_number":"pith:LZWQPEHZ","canonical_record":{"source":{"id":"2110.09007","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-18T04:06:20Z","cross_cats_sorted":["cs.FL","math.OC"],"title_canon_sha256":"8e3d551bf0375aec6c778c98f8fff8391652e7baf835aa4927c2f534d01b496c","abstract_canon_sha256":"0b56ac5f32bbaf77323de9103c845e4bca82a9e26947158bdb45b1c8754be9a2"},"schema_version":"1.0"},"canonical_sha256":"5e6d0790f9baa4b511d9d6624bd7b073d062a9a98bb1c5c58983992cdef108dd","source":{"kind":"arxiv","id":"2110.09007","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.09007","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"arxiv_version","alias_value":"2110.09007v3","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.09007","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_12","alias_value":"LZWQPEHZXKSL","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_16","alias_value":"LZWQPEHZXKSLKEOZ","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_8","alias_value":"LZWQPEHZ","created_at":"2026-07-05T03:56:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:LZWQPEHZXKSLKEOZ2ZREXV5QOP","target":"record","payload":{"canonical_record":{"source":{"id":"2110.09007","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-18T04:06:20Z","cross_cats_sorted":["cs.FL","math.OC"],"title_canon_sha256":"8e3d551bf0375aec6c778c98f8fff8391652e7baf835aa4927c2f534d01b496c","abstract_canon_sha256":"0b56ac5f32bbaf77323de9103c845e4bca82a9e26947158bdb45b1c8754be9a2"},"schema_version":"1.0"},"canonical_sha256":"5e6d0790f9baa4b511d9d6624bd7b073d062a9a98bb1c5c58983992cdef108dd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:56:31.816404Z","signature_b64":"bTPtnFUtf/oizUdxrVAltwbrzJleuTI9m9GEiz5fcGKg7iColuHEddxWjK04I3LBteApPzPnE2DzIcqb7gxxAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5e6d0790f9baa4b511d9d6624bd7b073d062a9a98bb1c5c58983992cdef108dd","last_reissued_at":"2026-07-05T03:56:31.815934Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:56:31.815934Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2110.09007","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:56:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gvKWcqUYx78LsQnchVnVxi764Eo4zz2M6ehw5X0Z8L5eqmOQh5YVxz3W4Ixkwgu8cDgVgFT7CrCmqIYtS9ogDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T04:49:50.028593Z"},"content_sha256":"acf8a4abcf72f738dc6aeccba3d15b32918e80ab48f18b460f48048a296cf010","schema_version":"1.0","event_id":"sha256:acf8a4abcf72f738dc6aeccba3d15b32918e80ab48f18b460f48048a296cf010"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:LZWQPEHZXKSLKEOZ2ZREXV5QOP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.FL","math.OC"],"primary_cat":"cs.RO","authors_text":"Mingyu Cai, Shaoping Xiao, Zhen Kan, Zhiliang Li","submitted_at":"2021-10-18T04:06:20Z","abstract_excerpt":"Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a key assumption that user-specified tasks are feasible in the given environment. Challenges arise when the operating environment is dynamic and unknown since the environment can be found prohibitive, leading to potentially conflicting tasks where pre-specified timed missions cannot be fully satisfied. Such issues become even more challenging when considering ti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.09007","kind":"arxiv","version":3},"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/2110.09007/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:56:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ws6ll7zwmdF0sGVYPrf/UJIk2drC8j/LOhMKWobD+gvdaHATpn+/frvSGiwXJxInFObvFACC1R9O+5AuI5fzAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T04:49:50.028979Z"},"content_sha256":"3226521ac2a4b84a8b79369300b990a5de110d6af3b4acf0d3196d6b146a1116","schema_version":"1.0","event_id":"sha256:3226521ac2a4b84a8b79369300b990a5de110d6af3b4acf0d3196d6b146a1116"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/bundle.json","state_url":"https://pith.science/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-20T04:49:50Z","links":{"resolver":"https://pith.science/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP","bundle":"https://pith.science/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/bundle.json","state":"https://pith.science/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LZWQPEHZXKSLKEOZ2ZREXV5QOP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:LZWQPEHZXKSLKEOZ2ZREXV5QOP","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":"0b56ac5f32bbaf77323de9103c845e4bca82a9e26947158bdb45b1c8754be9a2","cross_cats_sorted":["cs.FL","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-18T04:06:20Z","title_canon_sha256":"8e3d551bf0375aec6c778c98f8fff8391652e7baf835aa4927c2f534d01b496c"},"schema_version":"1.0","source":{"id":"2110.09007","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2110.09007","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"arxiv_version","alias_value":"2110.09007v3","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2110.09007","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_12","alias_value":"LZWQPEHZXKSL","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_16","alias_value":"LZWQPEHZXKSLKEOZ","created_at":"2026-07-05T03:56:31Z"},{"alias_kind":"pith_short_8","alias_value":"LZWQPEHZ","created_at":"2026-07-05T03:56:31Z"}],"graph_snapshots":[{"event_id":"sha256:3226521ac2a4b84a8b79369300b990a5de110d6af3b4acf0d3196d6b146a1116","target":"graph","created_at":"2026-07-05T03:56:31Z","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/2110.09007/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a key assumption that user-specified tasks are feasible in the given environment. Challenges arise when the operating environment is dynamic and unknown since the environment can be found prohibitive, leading to potentially conflicting tasks where pre-specified timed missions cannot be fully satisfied. Such issues become even more challenging when considering ti","authors_text":"Mingyu Cai, Shaoping Xiao, Zhen Kan, Zhiliang Li","cross_cats":["cs.FL","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-18T04:06:20Z","title":"Online Motion Planning with Soft Metric Interval Temporal Logic in Unknown Dynamic Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.09007","kind":"arxiv","version":3},"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:acf8a4abcf72f738dc6aeccba3d15b32918e80ab48f18b460f48048a296cf010","target":"record","created_at":"2026-07-05T03:56:31Z","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":"0b56ac5f32bbaf77323de9103c845e4bca82a9e26947158bdb45b1c8754be9a2","cross_cats_sorted":["cs.FL","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-10-18T04:06:20Z","title_canon_sha256":"8e3d551bf0375aec6c778c98f8fff8391652e7baf835aa4927c2f534d01b496c"},"schema_version":"1.0","source":{"id":"2110.09007","kind":"arxiv","version":3}},"canonical_sha256":"5e6d0790f9baa4b511d9d6624bd7b073d062a9a98bb1c5c58983992cdef108dd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5e6d0790f9baa4b511d9d6624bd7b073d062a9a98bb1c5c58983992cdef108dd","first_computed_at":"2026-07-05T03:56:31.815934Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:56:31.815934Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bTPtnFUtf/oizUdxrVAltwbrzJleuTI9m9GEiz5fcGKg7iColuHEddxWjK04I3LBteApPzPnE2DzIcqb7gxxAg==","signature_status":"signed_v1","signed_at":"2026-07-05T03:56:31.816404Z","signed_message":"canonical_sha256_bytes"},"source_id":"2110.09007","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:acf8a4abcf72f738dc6aeccba3d15b32918e80ab48f18b460f48048a296cf010","sha256:3226521ac2a4b84a8b79369300b990a5de110d6af3b4acf0d3196d6b146a1116"],"state_sha256":"e571534012bab92e53c585e936e83de4d2237e59494286d2ef33a58a4c8c7743"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"laxvbg6hZFlnDj3FFAPjDQQ7tdRCQvk21JQRmf72tGRySEpi2UDDiM22rjfRKOA0Vx1piXE2tbKXb4fihKJ/Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T04:49:50.031387Z","bundle_sha256":"65e01420e233183dfae66fd3793c372baa7625bd95ff36bfe6f38caad8befa67"}}