{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2012:RFEJEBD6KLZO25DLTL3TBYRMBS","short_pith_number":"pith:RFEJEBD6","schema_version":"1.0","canonical_sha256":"894892047e52f2ed746b9af730e22c0cba72e22108b512e9d6111ce289741235","source":{"kind":"arxiv","id":"1209.4463","version":1},"attestation_state":"computed","paper":{"title":"Sparsification of Motion-Planning Roadmaps by Edge Contraction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.DS"],"primary_cat":"cs.RO","authors_text":"Dan Halperin, Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal","submitted_at":"2012-09-20T09:07:47Z","abstract_excerpt":"We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2"},"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":"1209.4463","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-09-20T09:07:47Z","cross_cats_sorted":["cs.DS"],"title_canon_sha256":"ed5b85395e075560b9eaae53b70c248bb21b14a39d9d55d2c7f4943e12a89b23","abstract_canon_sha256":"4d6d7135e1700312d6839ebdc3df38a43e0605943da016316e923d69b2b3f065"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:45:11.636381Z","signature_b64":"rpp0n1sfDSDX6pnN4GeBVHt/crH8opbi4LXMpByruosVCSRk09BGDMwWQiXCesvpEvk+1Gbs5MVaEYDlmCwZAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"894892047e52f2ed746b9af730e22c0cba72e22108b512e9d6111ce289741235","last_reissued_at":"2026-05-18T03:45:11.635631Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:45:11.635631Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Sparsification of Motion-Planning Roadmaps by Edge Contraction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.DS"],"primary_cat":"cs.RO","authors_text":"Dan Halperin, Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal","submitted_at":"2012-09-20T09:07:47Z","abstract_excerpt":"We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction - the contraction of a roadmap edge to a single vertex and the connection of the new vertex to the neighboring vertices of the contracted edge. For certain scenarios, we compress more than 98% of the edges and vertices at the cost of degradation of average shortest path length by at most 2"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1209.4463","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":""},"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":"1209.4463","created_at":"2026-05-18T03:45:11.635759+00:00"},{"alias_kind":"arxiv_version","alias_value":"1209.4463v1","created_at":"2026-05-18T03:45:11.635759+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1209.4463","created_at":"2026-05-18T03:45:11.635759+00:00"},{"alias_kind":"pith_short_12","alias_value":"RFEJEBD6KLZO","created_at":"2026-05-18T12:27:20.899486+00:00"},{"alias_kind":"pith_short_16","alias_value":"RFEJEBD6KLZO25DL","created_at":"2026-05-18T12:27:20.899486+00:00"},{"alias_kind":"pith_short_8","alias_value":"RFEJEBD6","created_at":"2026-05-18T12:27:20.899486+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/RFEJEBD6KLZO25DLTL3TBYRMBS","json":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS.json","graph_json":"https://pith.science/api/pith-number/RFEJEBD6KLZO25DLTL3TBYRMBS/graph.json","events_json":"https://pith.science/api/pith-number/RFEJEBD6KLZO25DLTL3TBYRMBS/events.json","paper":"https://pith.science/paper/RFEJEBD6"},"agent_actions":{"view_html":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS","download_json":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS.json","view_paper":"https://pith.science/paper/RFEJEBD6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1209.4463&json=true","fetch_graph":"https://pith.science/api/pith-number/RFEJEBD6KLZO25DLTL3TBYRMBS/graph.json","fetch_events":"https://pith.science/api/pith-number/RFEJEBD6KLZO25DLTL3TBYRMBS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS/action/storage_attestation","attest_author":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS/action/author_attestation","sign_citation":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS/action/citation_signature","submit_replication":"https://pith.science/pith/RFEJEBD6KLZO25DLTL3TBYRMBS/action/replication_record"}},"created_at":"2026-05-18T03:45:11.635759+00:00","updated_at":"2026-05-18T03:45:11.635759+00:00"}