{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:QC2OWT2NEOVZYW4TK6JE2LEOBN","short_pith_number":"pith:QC2OWT2N","schema_version":"1.0","canonical_sha256":"80b4eb4f4d23ab9c5b9357924d2c8e0b7e7fff8d7f6e24e88dfdb7b8f9107de5","source":{"kind":"arxiv","id":"2103.06141","version":1},"attestation_state":"computed","paper":{"title":"Non-Holonomic RRT & MPC: Path and Trajectory Planning for an Autonomous Cycle Rickshaw","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Damir Bojad\\v{z}i\\'c, Dinko Osmankovi\\'c, Julian Kunze, Mohammadhossein Malmir","submitted_at":"2021-03-10T15:36:39Z","abstract_excerpt":"This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw (trishaw) used for autonomous urban transportation in shared spaces. Due to the nature of the vehicle, the algorithms had to be adapted in order to adhere to non-holonomic kinematic constraints using the Kinematic Single-Track Model.\n  The vehicle is designed to offer transportation for people and goods in shared environments such as roads, sidewalks, bicycle"},"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":"2103.06141","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-03-10T15:36:39Z","cross_cats_sorted":[],"title_canon_sha256":"875006331156eca0c6a4c131453d7f62ee2aeb4d16d07b4bf8460ca2d8f53f1c","abstract_canon_sha256":"e308f825b9262e498c0a5438db7c7cea4f30d803fbe2ce0cdf9627ecdff9aabf"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:22:02.035038Z","signature_b64":"X8bnuA4XIdTq84UQGOdLM8JZauYikdn+gjmKEKsqnKpCYVt07ciWPYahkR1q3IQjPD/+K108MH3ASc/oMWS+Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"80b4eb4f4d23ab9c5b9357924d2c8e0b7e7fff8d7f6e24e88dfdb7b8f9107de5","last_reissued_at":"2026-07-05T02:22:02.034549Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:22:02.034549Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Non-Holonomic RRT & MPC: Path and Trajectory Planning for an Autonomous Cycle Rickshaw","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Damir Bojad\\v{z}i\\'c, Dinko Osmankovi\\'c, Julian Kunze, Mohammadhossein Malmir","submitted_at":"2021-03-10T15:36:39Z","abstract_excerpt":"This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw (trishaw) used for autonomous urban transportation in shared spaces. Due to the nature of the vehicle, the algorithms had to be adapted in order to adhere to non-holonomic kinematic constraints using the Kinematic Single-Track Model.\n  The vehicle is designed to offer transportation for people and goods in shared environments such as roads, sidewalks, bicycle"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.06141","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/2103.06141/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":"2103.06141","created_at":"2026-07-05T02:22:02.034611+00:00"},{"alias_kind":"arxiv_version","alias_value":"2103.06141v1","created_at":"2026-07-05T02:22:02.034611+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.06141","created_at":"2026-07-05T02:22:02.034611+00:00"},{"alias_kind":"pith_short_12","alias_value":"QC2OWT2NEOVZ","created_at":"2026-07-05T02:22:02.034611+00:00"},{"alias_kind":"pith_short_16","alias_value":"QC2OWT2NEOVZYW4T","created_at":"2026-07-05T02:22:02.034611+00:00"},{"alias_kind":"pith_short_8","alias_value":"QC2OWT2N","created_at":"2026-07-05T02:22:02.034611+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/QC2OWT2NEOVZYW4TK6JE2LEOBN","json":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN.json","graph_json":"https://pith.science/api/pith-number/QC2OWT2NEOVZYW4TK6JE2LEOBN/graph.json","events_json":"https://pith.science/api/pith-number/QC2OWT2NEOVZYW4TK6JE2LEOBN/events.json","paper":"https://pith.science/paper/QC2OWT2N"},"agent_actions":{"view_html":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN","download_json":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN.json","view_paper":"https://pith.science/paper/QC2OWT2N","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2103.06141&json=true","fetch_graph":"https://pith.science/api/pith-number/QC2OWT2NEOVZYW4TK6JE2LEOBN/graph.json","fetch_events":"https://pith.science/api/pith-number/QC2OWT2NEOVZYW4TK6JE2LEOBN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN/action/storage_attestation","attest_author":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN/action/author_attestation","sign_citation":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN/action/citation_signature","submit_replication":"https://pith.science/pith/QC2OWT2NEOVZYW4TK6JE2LEOBN/action/replication_record"}},"created_at":"2026-07-05T02:22:02.034611+00:00","updated_at":"2026-07-05T02:22:02.034611+00:00"}