{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:TK5TR6R54ZIIMBSPZT2LUXIHEI","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":"9d455da2f5e2455e59bee2f1c956c7a779ed232ec035a529e891408fc4d74cf9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T19:29:04Z","title_canon_sha256":"486f4fc070f88b0897d204e43f371ddca018f6bd44ac7c0f82a07877f99d53a8"},"schema_version":"1.0","source":{"id":"1801.07249","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.07249","created_at":"2026-05-18T00:20:21Z"},{"alias_kind":"arxiv_version","alias_value":"1801.07249v2","created_at":"2026-05-18T00:20:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.07249","created_at":"2026-05-18T00:20:21Z"},{"alias_kind":"pith_short_12","alias_value":"TK5TR6R54ZII","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"TK5TR6R54ZIIMBSP","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"TK5TR6R5","created_at":"2026-05-18T12:32:53Z"}],"graph_snapshots":[{"event_id":"sha256:330d392732569df374badc8226240cc6eb5f50116e270cfe8dec3e96ab4f40d8","target":"graph","created_at":"2026-05-18T00:20:21Z","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":"This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or neutral potential energy, with the objective of generating a control action that drives the vehicle towards the goal, while still favoring feature rich areas within a local scope, thus improving the localization performance. One key property of the proposed method is that it does not rely on mapping, and therefore it is a lightweight solution that can be deploye","authors_text":"A. Pedro Aguiar, Meysam Basiri, Pedro Miraldo, Romulo T. Rodrigues","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T19:29:04Z","title":"Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.07249","kind":"arxiv","version":2},"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:a61fa4a122479eee22d9bbd59f46bf3eb7a10dd77de1dcf6bc1e5e4f1e33f74c","target":"record","created_at":"2026-05-18T00:20:21Z","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":"9d455da2f5e2455e59bee2f1c956c7a779ed232ec035a529e891408fc4d74cf9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-21T19:29:04Z","title_canon_sha256":"486f4fc070f88b0897d204e43f371ddca018f6bd44ac7c0f82a07877f99d53a8"},"schema_version":"1.0","source":{"id":"1801.07249","kind":"arxiv","version":2}},"canonical_sha256":"9abb38fa3de65086064fccf4ba5d07223f6594d11db09fa82329a0a3897b2a0b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9abb38fa3de65086064fccf4ba5d07223f6594d11db09fa82329a0a3897b2a0b","first_computed_at":"2026-05-18T00:20:21.822845Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:20:21.822845Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2awIiog3OknJdtDdEph19P4mQkJEYXSqT5bMF7ldfpXqFQG33mx4dK3EItGR3qXEPCoaB/RTa2diEKeGYWPYCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:20:21.823695Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.07249","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a61fa4a122479eee22d9bbd59f46bf3eb7a10dd77de1dcf6bc1e5e4f1e33f74c","sha256:330d392732569df374badc8226240cc6eb5f50116e270cfe8dec3e96ab4f40d8"],"state_sha256":"f11fea0746ce54d5890f4df6237bd39e3988af537e12b890fa0209c9df60ab5e"}