{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:UR5RW6JA2AJNSMRZWAYHD4JMLE","short_pith_number":"pith:UR5RW6JA","canonical_record":{"source":{"id":"2410.16762","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-22T07:29:05Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"6de1830bb108e30d9c6923e9607321165df4c8fe464881f90e1837bb0ba696f1","abstract_canon_sha256":"64f5da740a4efecde2ba1e9dca2778744ab973f6dbeab28657cff45c27ff4ac1"},"schema_version":"1.0"},"canonical_sha256":"a47b1b7920d012d93239b03071f12c593148733823f2c6f7f05451380571ffa3","source":{"kind":"arxiv","id":"2410.16762","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.16762","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"arxiv_version","alias_value":"2410.16762v1","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.16762","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_12","alias_value":"UR5RW6JA2AJN","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_16","alias_value":"UR5RW6JA2AJNSMRZ","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_8","alias_value":"UR5RW6JA","created_at":"2026-07-05T09:24:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:UR5RW6JA2AJNSMRZWAYHD4JMLE","target":"record","payload":{"canonical_record":{"source":{"id":"2410.16762","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-22T07:29:05Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"6de1830bb108e30d9c6923e9607321165df4c8fe464881f90e1837bb0ba696f1","abstract_canon_sha256":"64f5da740a4efecde2ba1e9dca2778744ab973f6dbeab28657cff45c27ff4ac1"},"schema_version":"1.0"},"canonical_sha256":"a47b1b7920d012d93239b03071f12c593148733823f2c6f7f05451380571ffa3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:24:06.420544Z","signature_b64":"LcjsTXDhaBj9cePzBr2vH7SXPAqe0ffH6/ullI3LhHHDNvBO9JWSX8VuoewxNYMabfjCsJP3R42euVzo2qATDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a47b1b7920d012d93239b03071f12c593148733823f2c6f7f05451380571ffa3","last_reissued_at":"2026-07-05T09:24:06.419757Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:24:06.419757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2410.16762","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":"2026-07-05T09:24:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5hbpbbgrwRGsC9uIY0orPY6ebKt8gsNbzbdzX8wFmVcgIi7eMq6FS8IcUFH155KE1fkRGtu4Ooqzw3S2xZOABw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T20:18:06.581421Z"},"content_sha256":"b1bbb8575216b06d1ea4e2dc291ffa421f1328aa5645586c5e3e53a790041b8b","schema_version":"1.0","event_id":"sha256:b1bbb8575216b06d1ea4e2dc291ffa421f1328aa5645586c5e3e53a790041b8b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:UR5RW6JA2AJNSMRZWAYHD4JMLE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Deep-Sea A*+: An Advanced Path Planning Method Integrating Enhanced A* and Dynamic Window Approach for Autonomous Underwater Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Jiaqi Shang, Longchao Chen, Yinyi Lai, Yuyang Li, Zenghui Liu, Zheyu Jiang","submitted_at":"2024-10-22T07:29:05Z","abstract_excerpt":"As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations, necessitating the development of robust detection robots. In this paper, we propose an advanced path planning methodology that integrates an improved A* algorithm with the Dynamic Window Approach (DWA). By optimizing the search direction of the traditional A* algorithm and introducing an enhanced evaluation function, our improved A* algorithm accelerates path search"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.16762","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/2410.16762/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":"2026-07-05T09:24:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vyCkPqIHeu+mfEgl9aJtLO/oRZ1VExEud4nULb7QFdqnhK3ChNfrKMb4nPf9JQF2gYpeMiVnbPHv89/i6DFWBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-17T20:18:06.581983Z"},"content_sha256":"77ec192f90e0a0fe3cebf29192b3f096b5d8255b848e8ccda5aa28698af7b6fd","schema_version":"1.0","event_id":"sha256:77ec192f90e0a0fe3cebf29192b3f096b5d8255b848e8ccda5aa28698af7b6fd"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/bundle.json","state_url":"https://pith.science/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/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":"2026-08-17T20:18:06Z","links":{"resolver":"https://pith.science/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE","bundle":"https://pith.science/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/bundle.json","state":"https://pith.science/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UR5RW6JA2AJNSMRZWAYHD4JMLE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:UR5RW6JA2AJNSMRZWAYHD4JMLE","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":"64f5da740a4efecde2ba1e9dca2778744ab973f6dbeab28657cff45c27ff4ac1","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-22T07:29:05Z","title_canon_sha256":"6de1830bb108e30d9c6923e9607321165df4c8fe464881f90e1837bb0ba696f1"},"schema_version":"1.0","source":{"id":"2410.16762","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2410.16762","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"arxiv_version","alias_value":"2410.16762v1","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2410.16762","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_12","alias_value":"UR5RW6JA2AJN","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_16","alias_value":"UR5RW6JA2AJNSMRZ","created_at":"2026-07-05T09:24:06Z"},{"alias_kind":"pith_short_8","alias_value":"UR5RW6JA","created_at":"2026-07-05T09:24:06Z"}],"graph_snapshots":[{"event_id":"sha256:77ec192f90e0a0fe3cebf29192b3f096b5d8255b848e8ccda5aa28698af7b6fd","target":"graph","created_at":"2026-07-05T09:24:06Z","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/2410.16762/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations, necessitating the development of robust detection robots. In this paper, we propose an advanced path planning methodology that integrates an improved A* algorithm with the Dynamic Window Approach (DWA). By optimizing the search direction of the traditional A* algorithm and introducing an enhanced evaluation function, our improved A* algorithm accelerates path search","authors_text":"Jiaqi Shang, Longchao Chen, Yinyi Lai, Yuyang Li, Zenghui Liu, Zheyu Jiang","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-22T07:29:05Z","title":"Deep-Sea A*+: An Advanced Path Planning Method Integrating Enhanced A* and Dynamic Window Approach for Autonomous Underwater Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.16762","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:b1bbb8575216b06d1ea4e2dc291ffa421f1328aa5645586c5e3e53a790041b8b","target":"record","created_at":"2026-07-05T09:24:06Z","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":"64f5da740a4efecde2ba1e9dca2778744ab973f6dbeab28657cff45c27ff4ac1","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-10-22T07:29:05Z","title_canon_sha256":"6de1830bb108e30d9c6923e9607321165df4c8fe464881f90e1837bb0ba696f1"},"schema_version":"1.0","source":{"id":"2410.16762","kind":"arxiv","version":1}},"canonical_sha256":"a47b1b7920d012d93239b03071f12c593148733823f2c6f7f05451380571ffa3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a47b1b7920d012d93239b03071f12c593148733823f2c6f7f05451380571ffa3","first_computed_at":"2026-07-05T09:24:06.419757Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:24:06.419757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LcjsTXDhaBj9cePzBr2vH7SXPAqe0ffH6/ullI3LhHHDNvBO9JWSX8VuoewxNYMabfjCsJP3R42euVzo2qATDw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:24:06.420544Z","signed_message":"canonical_sha256_bytes"},"source_id":"2410.16762","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b1bbb8575216b06d1ea4e2dc291ffa421f1328aa5645586c5e3e53a790041b8b","sha256:77ec192f90e0a0fe3cebf29192b3f096b5d8255b848e8ccda5aa28698af7b6fd"],"state_sha256":"a38009e60a2de05900c36d404e4ada8848e3c347947804c5fdf9d235985a0a18"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zFRwuEQov/O6QgFnU495Xpr4bllVs9Ft8okkPQlFpxWbmRIxvAcYQB8FPrd0fcV2KnbatCZGDWvhwX4rIuHQDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-17T20:18:06.586932Z","bundle_sha256":"0edc4ab485669ff741719cbcec72044fd1c9697a7ba93355add75ccda596549a"}}