{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:UUVB3BQFOUJNR2VATGM74M7ZIL","short_pith_number":"pith:UUVB3BQF","canonical_record":{"source":{"id":"1703.03616","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-10T10:32:04Z","cross_cats_sorted":[],"title_canon_sha256":"a5f714c5e391bae55d80b64b5a6754f35ebb0f180e5a2b719ea7eeca6910265d","abstract_canon_sha256":"9adfee0895d70d8968ac1d61d171a1febc946ce48fb275ca2b063c2acd69e702"},"schema_version":"1.0"},"canonical_sha256":"a52a1d86057512d8eaa09999fe33f942cf9ff33c2f5df8af964e55fea7d42c8e","source":{"kind":"arxiv","id":"1703.03616","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.03616","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"arxiv_version","alias_value":"1703.03616v2","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.03616","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"pith_short_12","alias_value":"UUVB3BQFOUJN","created_at":"2026-05-18T12:31:49Z"},{"alias_kind":"pith_short_16","alias_value":"UUVB3BQFOUJNR2VA","created_at":"2026-05-18T12:31:49Z"},{"alias_kind":"pith_short_8","alias_value":"UUVB3BQF","created_at":"2026-05-18T12:31:49Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:UUVB3BQFOUJNR2VATGM74M7ZIL","target":"record","payload":{"canonical_record":{"source":{"id":"1703.03616","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-10T10:32:04Z","cross_cats_sorted":[],"title_canon_sha256":"a5f714c5e391bae55d80b64b5a6754f35ebb0f180e5a2b719ea7eeca6910265d","abstract_canon_sha256":"9adfee0895d70d8968ac1d61d171a1febc946ce48fb275ca2b063c2acd69e702"},"schema_version":"1.0"},"canonical_sha256":"a52a1d86057512d8eaa09999fe33f942cf9ff33c2f5df8af964e55fea7d42c8e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:48:04.912085Z","signature_b64":"pusCAJQtrAfrgZHdXCyN0rx1ZU2EfGJsAZFfyLEx/5sOHuLZUTNIn2EazfQaybjD5/JI9L32s6dB5/5UPBN+CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a52a1d86057512d8eaa09999fe33f942cf9ff33c2f5df8af964e55fea7d42c8e","last_reissued_at":"2026-05-18T00:48:04.911414Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:48:04.911414Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1703.03616","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:48:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0xwKSScXGnyj3LuT7451C5ftZ6lLyNIIzxVwmgEQEtLQy3cTjag1FgathxJm/i1CTdSW3wZB+FRNekx7ELYwDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T22:46:17.436817Z"},"content_sha256":"5179829455ebdd2ae0c86b1360c51a8bd002a413677941b406d6bcf62937aa27","schema_version":"1.0","event_id":"sha256:5179829455ebdd2ae0c86b1360c51a8bd002a413677941b406d6bcf62937aa27"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:UUVB3BQFOUJNR2VATGM74M7ZIL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Lattice-based Motion Planning for a General 2-trailer system","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Daniel Axehill, Marcello Cirillo, Niclas Evestedt, Olov Holmer, Oskar Ljungqvist","submitted_at":"2017-03-10T10:32:04Z","abstract_excerpt":"Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning framework for a general 2-trailer system that is resolution complete and resolution optimal. The solution will satisfy both differential and obstacle imposed constraints and is intended as a driver support system to automatically plan complicated maneuvers in backward and forward motion. The proposed framework relies on a precomputing step that is performed offlin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.03616","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:48:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"r7CwVoG7hzgLvRCKEFYpUL2Lse9go0GGD74g5gOD5EFP6MftZ31r0FrUxtpeT3xHKtO7CecUkIqEVbKeZjmYDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T22:46:17.437588Z"},"content_sha256":"ebe3c1bc72e648128b88a365d925f1caa02fd05c358cd3477f475fb537cc8498","schema_version":"1.0","event_id":"sha256:ebe3c1bc72e648128b88a365d925f1caa02fd05c358cd3477f475fb537cc8498"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/bundle.json","state_url":"https://pith.science/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/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":"2026-06-11T22:46:17Z","links":{"resolver":"https://pith.science/pith/UUVB3BQFOUJNR2VATGM74M7ZIL","bundle":"https://pith.science/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/bundle.json","state":"https://pith.science/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UUVB3BQFOUJNR2VATGM74M7ZIL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:UUVB3BQFOUJNR2VATGM74M7ZIL","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":"9adfee0895d70d8968ac1d61d171a1febc946ce48fb275ca2b063c2acd69e702","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-10T10:32:04Z","title_canon_sha256":"a5f714c5e391bae55d80b64b5a6754f35ebb0f180e5a2b719ea7eeca6910265d"},"schema_version":"1.0","source":{"id":"1703.03616","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.03616","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"arxiv_version","alias_value":"1703.03616v2","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.03616","created_at":"2026-05-18T00:48:04Z"},{"alias_kind":"pith_short_12","alias_value":"UUVB3BQFOUJN","created_at":"2026-05-18T12:31:49Z"},{"alias_kind":"pith_short_16","alias_value":"UUVB3BQFOUJNR2VA","created_at":"2026-05-18T12:31:49Z"},{"alias_kind":"pith_short_8","alias_value":"UUVB3BQF","created_at":"2026-05-18T12:31:49Z"}],"graph_snapshots":[{"event_id":"sha256:ebe3c1bc72e648128b88a365d925f1caa02fd05c358cd3477f475fb537cc8498","target":"graph","created_at":"2026-05-18T00:48:04Z","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":"Motion planning for a general 2-trailer system poses a hard problem for any motion planning algorithm and previous methods have lacked any completeness or optimality guarantees. In this work we present a lattice-based motion planning framework for a general 2-trailer system that is resolution complete and resolution optimal. The solution will satisfy both differential and obstacle imposed constraints and is intended as a driver support system to automatically plan complicated maneuvers in backward and forward motion. The proposed framework relies on a precomputing step that is performed offlin","authors_text":"Daniel Axehill, Marcello Cirillo, Niclas Evestedt, Olov Holmer, Oskar Ljungqvist","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-10T10:32:04Z","title":"Lattice-based Motion Planning for a General 2-trailer system"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.03616","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":"sha256:5179829455ebdd2ae0c86b1360c51a8bd002a413677941b406d6bcf62937aa27","target":"record","created_at":"2026-05-18T00:48:04Z","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":"9adfee0895d70d8968ac1d61d171a1febc946ce48fb275ca2b063c2acd69e702","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-10T10:32:04Z","title_canon_sha256":"a5f714c5e391bae55d80b64b5a6754f35ebb0f180e5a2b719ea7eeca6910265d"},"schema_version":"1.0","source":{"id":"1703.03616","kind":"arxiv","version":2}},"canonical_sha256":"a52a1d86057512d8eaa09999fe33f942cf9ff33c2f5df8af964e55fea7d42c8e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a52a1d86057512d8eaa09999fe33f942cf9ff33c2f5df8af964e55fea7d42c8e","first_computed_at":"2026-05-18T00:48:04.911414Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:48:04.911414Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pusCAJQtrAfrgZHdXCyN0rx1ZU2EfGJsAZFfyLEx/5sOHuLZUTNIn2EazfQaybjD5/JI9L32s6dB5/5UPBN+CQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:48:04.912085Z","signed_message":"canonical_sha256_bytes"},"source_id":"1703.03616","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5179829455ebdd2ae0c86b1360c51a8bd002a413677941b406d6bcf62937aa27","sha256:ebe3c1bc72e648128b88a365d925f1caa02fd05c358cd3477f475fb537cc8498"],"state_sha256":"92a77e3acffec0751e31011ad2b691de71b51035ad6665685f98b97247b3d2de"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B2Ng0FR4sZhdSxz7HuhxAZzwab6xCFXkeAu/P803QxOI+lpinfVnz2tcZECkDp67OyXB3CqkP5miHgVVXB3KAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T22:46:17.442674Z","bundle_sha256":"06727c722a4e0b3f41a2e12c656a8611e2046a2568b73e994461fab93b13c59e"}}