{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:OUJXPDD4RZRX2MF34PCKFYZW6X","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":"17ccc45b6bc50936bbb5f0a9397dcbdf1c0cb79df86498f2aa6c753be54d9b96","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-04T08:51:01Z","title_canon_sha256":"dd68b37906585b7e38a584beb2971ea19429a0523f64df002dc0bc1aacc22ebf"},"schema_version":"1.0","source":{"id":"2011.02182","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2011.02182","created_at":"2026-07-05T03:13:48Z"},{"alias_kind":"arxiv_version","alias_value":"2011.02182v1","created_at":"2026-07-05T03:13:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2011.02182","created_at":"2026-07-05T03:13:48Z"},{"alias_kind":"pith_short_12","alias_value":"OUJXPDD4RZRX","created_at":"2026-07-05T03:13:48Z"},{"alias_kind":"pith_short_16","alias_value":"OUJXPDD4RZRX2MF3","created_at":"2026-07-05T03:13:48Z"},{"alias_kind":"pith_short_8","alias_value":"OUJXPDD4","created_at":"2026-07-05T03:13:48Z"}],"graph_snapshots":[{"event_id":"sha256:dbfb5f4755f7fa21149d7b4e34de44512249b2e53e0775b0b8f0df8678123cd2","target":"graph","created_at":"2026-07-05T03:13:48Z","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/2011.02182/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size ","authors_text":"Ana Batinovi\\'c, Antun Ivanovic, Frano Petric, Stjepan Bogdan, Tamara Petrovi\\'c","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-04T08:51:01Z","title":"A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2011.02182","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:e9e851406a8208d232117807906a7f8a804470d73390512bbcf030bcc183a75c","target":"record","created_at":"2026-07-05T03:13:48Z","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":"17ccc45b6bc50936bbb5f0a9397dcbdf1c0cb79df86498f2aa6c753be54d9b96","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-11-04T08:51:01Z","title_canon_sha256":"dd68b37906585b7e38a584beb2971ea19429a0523f64df002dc0bc1aacc22ebf"},"schema_version":"1.0","source":{"id":"2011.02182","kind":"arxiv","version":1}},"canonical_sha256":"7513778c7c8e637d30bbe3c4a2e336f5ff6fb784305982e3e0a29d2cb4846904","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7513778c7c8e637d30bbe3c4a2e336f5ff6fb784305982e3e0a29d2cb4846904","first_computed_at":"2026-07-05T03:13:48.353993Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:13:48.353993Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UXGZ42ubHMLEKVN19pUBkZrcCOQ6Yd2yQPzwY7d2rNcHYoDYQZ4PZmixCRLjUrrJ2drZ7KKAFqnw5L59iB6iAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T03:13:48.354475Z","signed_message":"canonical_sha256_bytes"},"source_id":"2011.02182","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e9e851406a8208d232117807906a7f8a804470d73390512bbcf030bcc183a75c","sha256:dbfb5f4755f7fa21149d7b4e34de44512249b2e53e0775b0b8f0df8678123cd2"],"state_sha256":"6c6c53744418eb2fb6f0d2b72a202b497d737192cb317177edb5fb167557e756"}