{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:UE2RARZCSNDVABV4C6VT7AZSAC","short_pith_number":"pith:UE2RARZC","schema_version":"1.0","canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","source":{"kind":"arxiv","id":"2507.10968","version":1},"attestation_state":"computed","paper":{"title":"SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jovin D'sa, Toktam Mohammadnejad","submitted_at":"2025-07-15T04:15:35Z","abstract_excerpt":"Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle "},"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":"2507.10968","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-15T04:15:35Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"69f0736270ae6c5627c9194820717eba7fdcd89a8f1e8a9b84d698f0560f6156","abstract_canon_sha256":"4a18af11272ca86e38aee532c2dc5a0fa1e16705b94193a89b05b6851c03f815"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:37:29.507283Z","signature_b64":"DT2piBPApqF97GEDDFKjMZT07s5SiCZwTLn5URca/OaGo2iawsINojBGgqDPaRcQWFLidZ6vXaVt03cpMORkCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a13510472293475006bc17ab3f833200a99f4d508508988c7f3d3ce76ec2ed55","last_reissued_at":"2026-07-05T11:37:29.506778Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:37:29.506778Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SMART-Merge Planner: A Safe Merging and Real-Time Motion Planner for Autonomous Highway On-Ramp Merging","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Behdad Chalaki, Ehsan Moradi-Pari, Hossein Nourkhiz Mahjoub, Jovin D'sa, Toktam Mohammadnejad","submitted_at":"2025-07-15T04:15:35Z","abstract_excerpt":"Merging onto a highway is a complex driving task that requires identifying a safe gap, adjusting speed, often interactions to create a merging gap, and completing the merge maneuver within a limited time window while maintaining safety and driving comfort. In this paper, we introduce a Safe Merging and Real-Time Merge (SMART-Merge) planner, a lattice-based motion planner designed to facilitate safe and comfortable forced merging. By deliberately adapting cost terms to the unique challenges of forced merging and introducing a desired speed heuristic, SMART-Merge planner enables the ego vehicle "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.10968","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/2507.10968/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":"2507.10968","created_at":"2026-07-05T11:37:29.506838+00:00"},{"alias_kind":"arxiv_version","alias_value":"2507.10968v1","created_at":"2026-07-05T11:37:29.506838+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.10968","created_at":"2026-07-05T11:37:29.506838+00:00"},{"alias_kind":"pith_short_12","alias_value":"UE2RARZCSNDV","created_at":"2026-07-05T11:37:29.506838+00:00"},{"alias_kind":"pith_short_16","alias_value":"UE2RARZCSNDVABV4","created_at":"2026-07-05T11:37:29.506838+00:00"},{"alias_kind":"pith_short_8","alias_value":"UE2RARZC","created_at":"2026-07-05T11:37:29.506838+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/UE2RARZCSNDVABV4C6VT7AZSAC","json":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC.json","graph_json":"https://pith.science/api/pith-number/UE2RARZCSNDVABV4C6VT7AZSAC/graph.json","events_json":"https://pith.science/api/pith-number/UE2RARZCSNDVABV4C6VT7AZSAC/events.json","paper":"https://pith.science/paper/UE2RARZC"},"agent_actions":{"view_html":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC","download_json":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC.json","view_paper":"https://pith.science/paper/UE2RARZC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2507.10968&json=true","fetch_graph":"https://pith.science/api/pith-number/UE2RARZCSNDVABV4C6VT7AZSAC/graph.json","fetch_events":"https://pith.science/api/pith-number/UE2RARZCSNDVABV4C6VT7AZSAC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/action/storage_attestation","attest_author":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/action/author_attestation","sign_citation":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/action/citation_signature","submit_replication":"https://pith.science/pith/UE2RARZCSNDVABV4C6VT7AZSAC/action/replication_record"}},"created_at":"2026-07-05T11:37:29.506838+00:00","updated_at":"2026-07-05T11:37:29.506838+00:00"}