{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:PYYLKKYBHCGNQNKHVEE3YCL7OM","short_pith_number":"pith:PYYLKKYB","schema_version":"1.0","canonical_sha256":"7e30b52b01388cd83547a909bc097f7303be440f8668d396c0f4973d13f79872","source":{"kind":"arxiv","id":"1803.04998","version":2},"attestation_state":"computed","paper":{"title":"Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aditya Mandalika, Oren Salzman, Siddhartha Srinivasa","submitted_at":"2018-03-13T18:26:02Z","abstract_excerpt":"Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the roadmap graph is collision-free dominates the running time of search algorithms. Algorithms such as Lazy Weighted A* (LWA*) and LazySP have been proposed to reduce the number of edge evaluations by employing a lazy lookahead (one-step lookahead and infinite-step lookahead, respectively). However, this comes at the expense of additional graph operations: the larg"},"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":"1803.04998","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-13T18:26:02Z","cross_cats_sorted":[],"title_canon_sha256":"d5f2f2cb882f40c8ccecfec72d688abd0047914e7293a3138c5e365660c4bce7","abstract_canon_sha256":"0163e99356e170b5ce3bc49d00bbe3de1ebe97058ecb964669acc4343d310cb0"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:20:55.463611Z","signature_b64":"2lxqmSjqXI+dWkQRuXqdBFyKDjpXw6k3sh/JAd5FaZlsZWvkhYOwEULlDc9V1DVttKzx+ooW9YT1OIIS+4R/Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7e30b52b01388cd83547a909bc097f7303be440f8668d396c0f4973d13f79872","last_reissued_at":"2026-05-18T00:20:55.463100Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:20:55.463100Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aditya Mandalika, Oren Salzman, Siddhartha Srinivasa","submitted_at":"2018-03-13T18:26:02Z","abstract_excerpt":"Motion-planning problems, such as manipulation in cluttered environments, often require a collision-free shortest path to be computed quickly given a roadmap graph. Typically, the computational cost of evaluating whether an edge of the roadmap graph is collision-free dominates the running time of search algorithms. Algorithms such as Lazy Weighted A* (LWA*) and LazySP have been proposed to reduce the number of edge evaluations by employing a lazy lookahead (one-step lookahead and infinite-step lookahead, respectively). However, this comes at the expense of additional graph operations: the larg"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.04998","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"1803.04998","created_at":"2026-05-18T00:20:55.463183+00:00"},{"alias_kind":"arxiv_version","alias_value":"1803.04998v2","created_at":"2026-05-18T00:20:55.463183+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.04998","created_at":"2026-05-18T00:20:55.463183+00:00"},{"alias_kind":"pith_short_12","alias_value":"PYYLKKYBHCGN","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_16","alias_value":"PYYLKKYBHCGNQNKH","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_8","alias_value":"PYYLKKYB","created_at":"2026-05-18T12:32:46.962924+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/PYYLKKYBHCGNQNKHVEE3YCL7OM","json":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM.json","graph_json":"https://pith.science/api/pith-number/PYYLKKYBHCGNQNKHVEE3YCL7OM/graph.json","events_json":"https://pith.science/api/pith-number/PYYLKKYBHCGNQNKHVEE3YCL7OM/events.json","paper":"https://pith.science/paper/PYYLKKYB"},"agent_actions":{"view_html":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM","download_json":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM.json","view_paper":"https://pith.science/paper/PYYLKKYB","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1803.04998&json=true","fetch_graph":"https://pith.science/api/pith-number/PYYLKKYBHCGNQNKHVEE3YCL7OM/graph.json","fetch_events":"https://pith.science/api/pith-number/PYYLKKYBHCGNQNKHVEE3YCL7OM/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM/action/timestamp_anchor","attest_storage":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM/action/storage_attestation","attest_author":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM/action/author_attestation","sign_citation":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM/action/citation_signature","submit_replication":"https://pith.science/pith/PYYLKKYBHCGNQNKHVEE3YCL7OM/action/replication_record"}},"created_at":"2026-05-18T00:20:55.463183+00:00","updated_at":"2026-05-18T00:20:55.463183+00:00"}