{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:VZ5HAQOC4T6TE35VLWZ7VH3CIQ","short_pith_number":"pith:VZ5HAQOC","schema_version":"1.0","canonical_sha256":"ae7a7041c2e4fd326fb55db3fa9f6244361e9cffe618426dd3cc35a5f7723749","source":{"kind":"arxiv","id":"2606.19555","version":1},"attestation_state":"computed","paper":{"title":"SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Han Zheng, Ming Yang, Tong Qin, Yiwen Fu, Zhe Chen","submitted_at":"2026-06-17T19:55:09Z","abstract_excerpt":"Quadruped robots are increasingly expected to navigate through narrow passages, cluttered indoor scenes, and large-scale 3D unstructured environments. Existing local planners commonly approximate the robot using isotropic geometric inflation or rely on planar and elevation-map representations, leading to conservative motion in tight spaces and limited reasoning about overhanging structures. This letter presents SCAN-Planner, a spatial collision-aware local planning framework for long-range quadruped navigation. A yaw-aware twin-cylinder footprint is used to model the elongated robot body, enab"},"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":"2606.19555","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T19:55:09Z","cross_cats_sorted":[],"title_canon_sha256":"9d453ef3817394bf2c82062170aaf47ac0112c16de238c0517d95f1c6302f39a","abstract_canon_sha256":"c363c12a9f71c483a590dc0db0174c2d6110c984b4022a1ed8671dc15859ed1a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:28.821202Z","signature_b64":"vLyepuc0qhDJ5MFpHYBn0IVIcx43zaqWrwKgPEjGzesB6+zCjRCad6Br1GWew/e6WGrwCe3JVgzkfue6GxMbBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ae7a7041c2e4fd326fb55db3fa9f6244361e9cffe618426dd3cc35a5f7723749","last_reissued_at":"2026-06-19T16:12:28.820854Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:28.820854Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Han Zheng, Ming Yang, Tong Qin, Yiwen Fu, Zhe Chen","submitted_at":"2026-06-17T19:55:09Z","abstract_excerpt":"Quadruped robots are increasingly expected to navigate through narrow passages, cluttered indoor scenes, and large-scale 3D unstructured environments. Existing local planners commonly approximate the robot using isotropic geometric inflation or rely on planar and elevation-map representations, leading to conservative motion in tight spaces and limited reasoning about overhanging structures. This letter presents SCAN-Planner, a spatial collision-aware local planning framework for long-range quadruped navigation. A yaw-aware twin-cylinder footprint is used to model the elongated robot body, enab"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19555","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/2606.19555/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":"2606.19555","created_at":"2026-06-19T16:12:28.820917+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.19555v1","created_at":"2026-06-19T16:12:28.820917+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19555","created_at":"2026-06-19T16:12:28.820917+00:00"},{"alias_kind":"pith_short_12","alias_value":"VZ5HAQOC4T6T","created_at":"2026-06-19T16:12:28.820917+00:00"},{"alias_kind":"pith_short_16","alias_value":"VZ5HAQOC4T6TE35V","created_at":"2026-06-19T16:12:28.820917+00:00"},{"alias_kind":"pith_short_8","alias_value":"VZ5HAQOC","created_at":"2026-06-19T16:12:28.820917+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/VZ5HAQOC4T6TE35VLWZ7VH3CIQ","json":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ.json","graph_json":"https://pith.science/api/pith-number/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/graph.json","events_json":"https://pith.science/api/pith-number/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/events.json","paper":"https://pith.science/paper/VZ5HAQOC"},"agent_actions":{"view_html":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ","download_json":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ.json","view_paper":"https://pith.science/paper/VZ5HAQOC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.19555&json=true","fetch_graph":"https://pith.science/api/pith-number/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/graph.json","fetch_events":"https://pith.science/api/pith-number/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/action/storage_attestation","attest_author":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/action/author_attestation","sign_citation":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/action/citation_signature","submit_replication":"https://pith.science/pith/VZ5HAQOC4T6TE35VLWZ7VH3CIQ/action/replication_record"}},"created_at":"2026-06-19T16:12:28.820917+00:00","updated_at":"2026-06-19T16:12:28.820917+00:00"}