{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:VRJAG2VVGJD6FVJ3JI4WKGPFFW","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":"42456e36c678e76e7af39f898b52c069188c881cb5d63bacfbd3cbdc3a41a8cc","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2018-04-07T05:44:19Z","title_canon_sha256":"d73a6bb38431b4bce054defff6ebe3d6b01b771ba9535a065832705e25f866a4"},"schema_version":"1.0","source":{"id":"1804.02512","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.02512","created_at":"2026-05-18T00:18:59Z"},{"alias_kind":"arxiv_version","alias_value":"1804.02512v1","created_at":"2026-05-18T00:18:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.02512","created_at":"2026-05-18T00:18:59Z"},{"alias_kind":"pith_short_12","alias_value":"VRJAG2VVGJD6","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_16","alias_value":"VRJAG2VVGJD6FVJ3","created_at":"2026-05-18T12:32:59Z"},{"alias_kind":"pith_short_8","alias_value":"VRJAG2VV","created_at":"2026-05-18T12:32:59Z"}],"graph_snapshots":[{"event_id":"sha256:fef0752167b5d977d36dfa37611683b276b207de994465854bac48837b76bd69","target":"graph","created_at":"2026-05-18T00:18:59Z","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":"We present a novel algorithm for reciprocal collision avoidance between heterogeneous agents of different shapes and sizes. We present a novel CTMAT representation based on medial axis transform to compute a tight fitting bounding shape for each agent. Each CTMAT is represented using tuples, which are composed of circular arcs and line segments. Based on the reciprocal velocity obstacle formulation, we reduce the problem to solving a low-dimensional linear programming between each pair of tuples belonging to adjacent agents. We precompute the Minkowski Sums of tuples to accelerate the runtime ","authors_text":"Dinesh Manocha, Wenping Wang, Yuexin Ma","cross_cats":["cs.MA"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2018-04-07T05:44:19Z","title":"Efficient Reciprocal Collision Avoidance between Heterogeneous Agents Using CTMAT"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.02512","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":"sha256:8a3134fe7f7416ec50462d67cfb8cb76896582dc1f7164e072678dfce678b3e4","target":"record","created_at":"2026-05-18T00:18:59Z","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":"42456e36c678e76e7af39f898b52c069188c881cb5d63bacfbd3cbdc3a41a8cc","cross_cats_sorted":["cs.MA"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.AI","submitted_at":"2018-04-07T05:44:19Z","title_canon_sha256":"d73a6bb38431b4bce054defff6ebe3d6b01b771ba9535a065832705e25f866a4"},"schema_version":"1.0","source":{"id":"1804.02512","kind":"arxiv","version":1}},"canonical_sha256":"ac52036ab53247e2d53b4a396519e52d8457a60baa15169be99a1c74adfc7e22","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ac52036ab53247e2d53b4a396519e52d8457a60baa15169be99a1c74adfc7e22","first_computed_at":"2026-05-18T00:18:59.263437Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:18:59.263437Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VaoAAgCvPy7kZaPQKGIvCkrGlP08Co6BRKgH2pbZ8MS42CuRMgt9TzxcTvqHrSLtxIBmgpbZrSBkRcHKA8bdBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:18:59.263874Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.02512","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8a3134fe7f7416ec50462d67cfb8cb76896582dc1f7164e072678dfce678b3e4","sha256:fef0752167b5d977d36dfa37611683b276b207de994465854bac48837b76bd69"],"state_sha256":"eb62440ddad2da73a22f504a7d9a57d01f53e2c0b4a5a26cf0ffdbb3f25229c9"}