{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:XLTZ743FNPDP362LECM6JHKDMX","short_pith_number":"pith:XLTZ743F","canonical_record":{"source":{"id":"2504.10859","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CG","submitted_at":"2025-04-15T04:40:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"0e3eaab7aa3bc8cc46811c4d6280144cd79e0c12549c5a70d88860760d535129","abstract_canon_sha256":"1705522c1ea3e50a329b48abcdd8089b448c5a4e7a1559ada12d8006467d62d3"},"schema_version":"1.0"},"canonical_sha256":"bae79ff3656bc6fdfb4b2099e49d4365e4eb37c96f1dbbfeb83acb4cf8b3da22","source":{"kind":"arxiv","id":"2504.10859","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.10859","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"arxiv_version","alias_value":"2504.10859v1","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.10859","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_12","alias_value":"XLTZ743FNPDP","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_16","alias_value":"XLTZ743FNPDP362L","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_8","alias_value":"XLTZ743F","created_at":"2026-07-05T10:49:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:XLTZ743FNPDP362LECM6JHKDMX","target":"record","payload":{"canonical_record":{"source":{"id":"2504.10859","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CG","submitted_at":"2025-04-15T04:40:25Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"0e3eaab7aa3bc8cc46811c4d6280144cd79e0c12549c5a70d88860760d535129","abstract_canon_sha256":"1705522c1ea3e50a329b48abcdd8089b448c5a4e7a1559ada12d8006467d62d3"},"schema_version":"1.0"},"canonical_sha256":"bae79ff3656bc6fdfb4b2099e49d4365e4eb37c96f1dbbfeb83acb4cf8b3da22","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:49:25.459862Z","signature_b64":"40htXgDbcXkaVfJH6Lqt9bwUeMMUYe8TNvdGGq2lNMRHSDUaJGzknnR3wCFaTRz5jAyzWUyDzRh1uv/wpdNhAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bae79ff3656bc6fdfb4b2099e49d4365e4eb37c96f1dbbfeb83acb4cf8b3da22","last_reissued_at":"2026-07-05T10:49:25.459436Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:49:25.459436Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.10859","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":"2026-07-05T10:49:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vztm+LuX6IPDUJ4f8aMnl3975kIr3EJuf/PMu59HBTNRokz4aCTnueX+CTJlCWduadVHpDM7cpokwr50R7IBAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T05:35:25.211810Z"},"content_sha256":"291bd111e045df2d98cc177016a694e69d6610db727dcf8d63f49026c5c752ea","schema_version":"1.0","event_id":"sha256:291bd111e045df2d98cc177016a694e69d6610db727dcf8d63f49026c5c752ea"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:XLTZ743FNPDP362LECM6JHKDMX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Sublinear Algorithm for Path Feasibility Among Rectangular Obstacles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CG","authors_text":"Alex Fan, Alicia Li, Arul Kolla, Jason Gonzalez","submitted_at":"2025-04-15T04:40:25Z","abstract_excerpt":"The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular object capable of moving parallel to its sides. The obstacles are axis-aligned, rectangular, and may overlap. Most previous works only consider nondisjoint rectangular objects and point-sized or statically sized robots. Our approach introduces a novel technique leveraging generalized Gabriel graphs and constructs a data structure to facilitate online queries"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.10859","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/2504.10859/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":"2026-07-05T10:49:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VImRuhPitEdfbqgHI4SGg65zMT37FfbZ10BvEksIe+gKGiZshaNNw8nbL6+9iQHTfDsq9W2yOB35veW4hoGtDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-17T05:35:25.212179Z"},"content_sha256":"d4fa655176bca5f64114188f8c526a3018c6fd3684b047dd9985173c5893cc66","schema_version":"1.0","event_id":"sha256:d4fa655176bca5f64114188f8c526a3018c6fd3684b047dd9985173c5893cc66"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XLTZ743FNPDP362LECM6JHKDMX/bundle.json","state_url":"https://pith.science/pith/XLTZ743FNPDP362LECM6JHKDMX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XLTZ743FNPDP362LECM6JHKDMX/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":"2026-07-17T05:35:25Z","links":{"resolver":"https://pith.science/pith/XLTZ743FNPDP362LECM6JHKDMX","bundle":"https://pith.science/pith/XLTZ743FNPDP362LECM6JHKDMX/bundle.json","state":"https://pith.science/pith/XLTZ743FNPDP362LECM6JHKDMX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XLTZ743FNPDP362LECM6JHKDMX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:XLTZ743FNPDP362LECM6JHKDMX","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":"1705522c1ea3e50a329b48abcdd8089b448c5a4e7a1559ada12d8006467d62d3","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CG","submitted_at":"2025-04-15T04:40:25Z","title_canon_sha256":"0e3eaab7aa3bc8cc46811c4d6280144cd79e0c12549c5a70d88860760d535129"},"schema_version":"1.0","source":{"id":"2504.10859","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.10859","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"arxiv_version","alias_value":"2504.10859v1","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.10859","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_12","alias_value":"XLTZ743FNPDP","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_16","alias_value":"XLTZ743FNPDP362L","created_at":"2026-07-05T10:49:25Z"},{"alias_kind":"pith_short_8","alias_value":"XLTZ743F","created_at":"2026-07-05T10:49:25Z"}],"graph_snapshots":[{"event_id":"sha256:d4fa655176bca5f64114188f8c526a3018c6fd3684b047dd9985173c5893cc66","target":"graph","created_at":"2026-07-05T10:49:25Z","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/2504.10859/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular object capable of moving parallel to its sides. The obstacles are axis-aligned, rectangular, and may overlap. Most previous works only consider nondisjoint rectangular objects and point-sized or statically sized robots. Our approach introduces a novel technique leveraging generalized Gabriel graphs and constructs a data structure to facilitate online queries","authors_text":"Alex Fan, Alicia Li, Arul Kolla, Jason Gonzalez","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CG","submitted_at":"2025-04-15T04:40:25Z","title":"A Sublinear Algorithm for Path Feasibility Among Rectangular Obstacles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.10859","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":"sha256:291bd111e045df2d98cc177016a694e69d6610db727dcf8d63f49026c5c752ea","target":"record","created_at":"2026-07-05T10:49:25Z","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":"1705522c1ea3e50a329b48abcdd8089b448c5a4e7a1559ada12d8006467d62d3","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.CG","submitted_at":"2025-04-15T04:40:25Z","title_canon_sha256":"0e3eaab7aa3bc8cc46811c4d6280144cd79e0c12549c5a70d88860760d535129"},"schema_version":"1.0","source":{"id":"2504.10859","kind":"arxiv","version":1}},"canonical_sha256":"bae79ff3656bc6fdfb4b2099e49d4365e4eb37c96f1dbbfeb83acb4cf8b3da22","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bae79ff3656bc6fdfb4b2099e49d4365e4eb37c96f1dbbfeb83acb4cf8b3da22","first_computed_at":"2026-07-05T10:49:25.459436Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:49:25.459436Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"40htXgDbcXkaVfJH6Lqt9bwUeMMUYe8TNvdGGq2lNMRHSDUaJGzknnR3wCFaTRz5jAyzWUyDzRh1uv/wpdNhAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:49:25.459862Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.10859","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:291bd111e045df2d98cc177016a694e69d6610db727dcf8d63f49026c5c752ea","sha256:d4fa655176bca5f64114188f8c526a3018c6fd3684b047dd9985173c5893cc66"],"state_sha256":"a472db2dd09d1956c702e988fafe21b57bb9c71b24af619a5598f6d0898d49b9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iJRppaPjrcc9RedsfMmPFdips/GiKWfvvUNyVaC3i4Xoy/xCGSFsE+wzkNErnZTLsypErrYSC8UJkCZbiUcoBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-17T05:35:25.214336Z","bundle_sha256":"80aa2974edccc07734b919ceef377a431edfdd3321496053f05400b642fc28d0"}}