{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:TAFSUCDKZUAW5GEPEE73QNAZI4","short_pith_number":"pith:TAFSUCDK","canonical_record":{"source":{"id":"2306.06987","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T09:33:03Z","cross_cats_sorted":[],"title_canon_sha256":"aa736d57ce188603c4e2dbfd6e37bdb793a77c006af6af81d28e9f59a464ff8b","abstract_canon_sha256":"02147e7c1e80fe9d19b1f1af13999fb52277d80c3527f30b9b02ef93a14d43fe"},"schema_version":"1.0"},"canonical_sha256":"980b2a086acd016e988f213fb83419471ceaf4542d18f3f606adfa716eee0aa5","source":{"kind":"arxiv","id":"2306.06987","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.06987","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"arxiv_version","alias_value":"2306.06987v1","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.06987","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_12","alias_value":"TAFSUCDKZUAW","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_16","alias_value":"TAFSUCDKZUAW5GEP","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_8","alias_value":"TAFSUCDK","created_at":"2026-07-05T06:19:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:TAFSUCDKZUAW5GEPEE73QNAZI4","target":"record","payload":{"canonical_record":{"source":{"id":"2306.06987","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T09:33:03Z","cross_cats_sorted":[],"title_canon_sha256":"aa736d57ce188603c4e2dbfd6e37bdb793a77c006af6af81d28e9f59a464ff8b","abstract_canon_sha256":"02147e7c1e80fe9d19b1f1af13999fb52277d80c3527f30b9b02ef93a14d43fe"},"schema_version":"1.0"},"canonical_sha256":"980b2a086acd016e988f213fb83419471ceaf4542d18f3f606adfa716eee0aa5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:19:46.447143Z","signature_b64":"55WiUliex2ZmmkSTxm8+Xgj1VZjfaVXbtG7G80tg3/9wY50vT/6xzaWcqpVAbMrVozILpjnaI9bKbkoHQkOTDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"980b2a086acd016e988f213fb83419471ceaf4542d18f3f606adfa716eee0aa5","last_reissued_at":"2026-07-05T06:19:46.446670Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:19:46.446670Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.06987","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:19:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rYAb5bGdSHNkjzZ949BlIFwSxWfJQyEsn9lg9dERGhyG2xuvtsmmFZJqqptUErCyoMW+JuLzv9ar64++oBj5AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T03:35:55.930059Z"},"content_sha256":"8d5bb1b61e018d0349b382f522edc02dd7c15be052c42b3ccb447a60b68dca6e","schema_version":"1.0","event_id":"sha256:8d5bb1b61e018d0349b382f522edc02dd7c15be052c42b3ccb447a60b68dca6e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:TAFSUCDKZUAW5GEPEE73QNAZI4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Potential Field-based Path Planning with Interactive Speed Optimization for Autonomous Vehicles","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Pengfei Lin","submitted_at":"2023-06-12T09:33:03Z","abstract_excerpt":"Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and computational efficiency. However, current PF methods used in AVs focus solely on the path generation of the ego vehicle while assuming that the surrounding obstacle vehicles drive at a preset behavior without the PF-based path planner, which ignores the fact that the ego vehicle's PF could also impact the path generation of the obstacle vehicles. To tackle thi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.06987","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/2306.06987/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:19:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZiLXU636EuiRAr2F7NpEYX93FcjlK3NFmr6hY69LkQVXlhtZemXwddyYWSmdUTs1e/Tq+OEQxGLOV0qiAtkQDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T03:35:55.930443Z"},"content_sha256":"6fa83e0be19149df0f60a1a0d5bc249a4b8c34b23df97020a8ef2d06c515f120","schema_version":"1.0","event_id":"sha256:6fa83e0be19149df0f60a1a0d5bc249a4b8c34b23df97020a8ef2d06c515f120"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/bundle.json","state_url":"https://pith.science/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-09T03:35:55Z","links":{"resolver":"https://pith.science/pith/TAFSUCDKZUAW5GEPEE73QNAZI4","bundle":"https://pith.science/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/bundle.json","state":"https://pith.science/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TAFSUCDKZUAW5GEPEE73QNAZI4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:TAFSUCDKZUAW5GEPEE73QNAZI4","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":"02147e7c1e80fe9d19b1f1af13999fb52277d80c3527f30b9b02ef93a14d43fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T09:33:03Z","title_canon_sha256":"aa736d57ce188603c4e2dbfd6e37bdb793a77c006af6af81d28e9f59a464ff8b"},"schema_version":"1.0","source":{"id":"2306.06987","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.06987","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"arxiv_version","alias_value":"2306.06987v1","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.06987","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_12","alias_value":"TAFSUCDKZUAW","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_16","alias_value":"TAFSUCDKZUAW5GEP","created_at":"2026-07-05T06:19:46Z"},{"alias_kind":"pith_short_8","alias_value":"TAFSUCDK","created_at":"2026-07-05T06:19:46Z"}],"graph_snapshots":[{"event_id":"sha256:6fa83e0be19149df0f60a1a0d5bc249a4b8c34b23df97020a8ef2d06c515f120","target":"graph","created_at":"2026-07-05T06:19:46Z","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/2306.06987/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and computational efficiency. However, current PF methods used in AVs focus solely on the path generation of the ego vehicle while assuming that the surrounding obstacle vehicles drive at a preset behavior without the PF-based path planner, which ignores the fact that the ego vehicle's PF could also impact the path generation of the obstacle vehicles. To tackle thi","authors_text":"Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Pengfei Lin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T09:33:03Z","title":"Potential Field-based Path Planning with Interactive Speed Optimization for Autonomous Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.06987","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":"sha256:8d5bb1b61e018d0349b382f522edc02dd7c15be052c42b3ccb447a60b68dca6e","target":"record","created_at":"2026-07-05T06:19:46Z","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":"02147e7c1e80fe9d19b1f1af13999fb52277d80c3527f30b9b02ef93a14d43fe","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2023-06-12T09:33:03Z","title_canon_sha256":"aa736d57ce188603c4e2dbfd6e37bdb793a77c006af6af81d28e9f59a464ff8b"},"schema_version":"1.0","source":{"id":"2306.06987","kind":"arxiv","version":1}},"canonical_sha256":"980b2a086acd016e988f213fb83419471ceaf4542d18f3f606adfa716eee0aa5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"980b2a086acd016e988f213fb83419471ceaf4542d18f3f606adfa716eee0aa5","first_computed_at":"2026-07-05T06:19:46.446670Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:19:46.446670Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"55WiUliex2ZmmkSTxm8+Xgj1VZjfaVXbtG7G80tg3/9wY50vT/6xzaWcqpVAbMrVozILpjnaI9bKbkoHQkOTDA==","signature_status":"signed_v1","signed_at":"2026-07-05T06:19:46.447143Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.06987","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8d5bb1b61e018d0349b382f522edc02dd7c15be052c42b3ccb447a60b68dca6e","sha256:6fa83e0be19149df0f60a1a0d5bc249a4b8c34b23df97020a8ef2d06c515f120"],"state_sha256":"38653110671798f59d0bb760a457d3bc3bb446ae1920b22009ea13a36537993b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TEb0pPvBx6vkptE6T0efFS5lbs19g2zQRqJ/LA51PD0l5+8OXsfC7qDEpy3U6B4rWJGwGiJuRL8FVlMu7Fo5CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T03:35:55.932373Z","bundle_sha256":"e1d5d413da4b91f34f0d9dd0e03652a2be641ec7e358b85de9a473049d4ffed7"}}