{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:SKG5EFLNRJB7SMXFCRRF3XBCH2","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":"d26dff68f18888da354c336cbc0ffd6328d2f0220d92462f984be73a104cf019","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-22T21:30:18Z","title_canon_sha256":"b7124c3a1384469c37ea8fa34b24eaccef92413a8102043a9f52dac9c30f9ce2"},"schema_version":"1.0","source":{"id":"1705.08010","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1705.08010","created_at":"2026-05-18T00:05:56Z"},{"alias_kind":"arxiv_version","alias_value":"1705.08010v1","created_at":"2026-05-18T00:05:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1705.08010","created_at":"2026-05-18T00:05:56Z"},{"alias_kind":"pith_short_12","alias_value":"SKG5EFLNRJB7","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"SKG5EFLNRJB7SMXF","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"SKG5EFLN","created_at":"2026-05-18T12:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:db3bc37c85a5518e88d22ae82fac90bf9d20e9bda8b617c01968fc27b9a5f3c3","target":"graph","created_at":"2026-05-18T00:05:56Z","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"},"paper":{"abstract_excerpt":"We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the search space. A kinematically feasible but coarse tour connecting these milestones is generated by the global path planner. A local path planner then generates smooth motion primitives between consecu","authors_text":"Om Prakash Verma, Saksham Gupta, Vaibhav Darbari","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-22T21:30:18Z","title":"Dynamic Motion Planning for Aerial Surveillance on a Fixed-Wing UAV"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1705.08010","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:f09755684dfe98cb1422704b1dda04619cdb056dd82e0442b9175afc22af560f","target":"record","created_at":"2026-05-18T00:05:56Z","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":"d26dff68f18888da354c336cbc0ffd6328d2f0220d92462f984be73a104cf019","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-05-22T21:30:18Z","title_canon_sha256":"b7124c3a1384469c37ea8fa34b24eaccef92413a8102043a9f52dac9c30f9ce2"},"schema_version":"1.0","source":{"id":"1705.08010","kind":"arxiv","version":1}},"canonical_sha256":"928dd2156d8a43f932e514625ddc223eb6a5c799164b691920b80ef50e53e1f0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"928dd2156d8a43f932e514625ddc223eb6a5c799164b691920b80ef50e53e1f0","first_computed_at":"2026-05-18T00:05:56.708429Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:56.708429Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rqcs/HsH3uyoKkvd9hI+UegxvVUwiMDNW2R0Z+o77c84jc1/6ZXFQ5d4dFdbgJ0CdhoQIgyyn27Msq416T4lAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:56.708897Z","signed_message":"canonical_sha256_bytes"},"source_id":"1705.08010","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f09755684dfe98cb1422704b1dda04619cdb056dd82e0442b9175afc22af560f","sha256:db3bc37c85a5518e88d22ae82fac90bf9d20e9bda8b617c01968fc27b9a5f3c3"],"state_sha256":"50ca5d40321fe9351dfcc17236d5aa15be3b84bca96d2321befc22ffc6971cb6"}