{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:YLBL422H2PMDNS242GC6B7BX77","short_pith_number":"pith:YLBL422H","schema_version":"1.0","canonical_sha256":"c2c2be6b47d3d836cb5cd185e0fc37fff98aa6c5e4b18ea0b9231c2e63a39068","source":{"kind":"arxiv","id":"2411.14908","version":1},"attestation_state":"computed","paper":{"title":"Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.DS","math.OC"],"primary_cat":"cs.RO","authors_text":"Gary P. T. Choi, Gennaro Notomista, Matteo Saveriano","submitted_at":"2024-11-22T13:06:25Z","abstract_excerpt":"This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \\emph{ball world}, an artificial representation where all obstacle regions are closed balls. Starting from a polyhedral representation of obstacles in the environment, obtained using exteroceptive sensor readings, a computationally efficient mapping to ball-shaped obstacles is constructed using quasi-conformal mappings and M\\\"obius transformations. The geometry of the ball world is amenable to provably s"},"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":"2411.14908","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-22T13:06:25Z","cross_cats_sorted":["math.DS","math.OC"],"title_canon_sha256":"85ea4b5245e1bd72dadd9b9f1648b057e1f4671d715d970e96aaba3be21459fc","abstract_canon_sha256":"874a345a55bddc0a83fc38a505afaf68814a15e02c072b6c46a7a3ffb395706e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:39:13.577547Z","signature_b64":"Y6GmDjgJBRGNsA2JJf9EcRjxddL9sWHi3+Vi2wZkVv7frwwtc8Cohnj1ZHvZbCahJHDB3XLShdpRFcGNkXaqDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c2c2be6b47d3d836cb5cd185e0fc37fff98aa6c5e4b18ea0b9231c2e63a39068","last_reissued_at":"2026-07-05T09:39:13.577142Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:39:13.577142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.DS","math.OC"],"primary_cat":"cs.RO","authors_text":"Gary P. T. Choi, Gennaro Notomista, Matteo Saveriano","submitted_at":"2024-11-22T13:06:25Z","abstract_excerpt":"This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \\emph{ball world}, an artificial representation where all obstacle regions are closed balls. Starting from a polyhedral representation of obstacles in the environment, obtained using exteroceptive sensor readings, a computationally efficient mapping to ball-shaped obstacles is constructed using quasi-conformal mappings and M\\\"obius transformations. The geometry of the ball world is amenable to provably s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.14908","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/2411.14908/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":"2411.14908","created_at":"2026-07-05T09:39:13.577197+00:00"},{"alias_kind":"arxiv_version","alias_value":"2411.14908v1","created_at":"2026-07-05T09:39:13.577197+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.14908","created_at":"2026-07-05T09:39:13.577197+00:00"},{"alias_kind":"pith_short_12","alias_value":"YLBL422H2PMD","created_at":"2026-07-05T09:39:13.577197+00:00"},{"alias_kind":"pith_short_16","alias_value":"YLBL422H2PMDNS24","created_at":"2026-07-05T09:39:13.577197+00:00"},{"alias_kind":"pith_short_8","alias_value":"YLBL422H","created_at":"2026-07-05T09:39:13.577197+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/YLBL422H2PMDNS242GC6B7BX77","json":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77.json","graph_json":"https://pith.science/api/pith-number/YLBL422H2PMDNS242GC6B7BX77/graph.json","events_json":"https://pith.science/api/pith-number/YLBL422H2PMDNS242GC6B7BX77/events.json","paper":"https://pith.science/paper/YLBL422H"},"agent_actions":{"view_html":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77","download_json":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77.json","view_paper":"https://pith.science/paper/YLBL422H","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2411.14908&json=true","fetch_graph":"https://pith.science/api/pith-number/YLBL422H2PMDNS242GC6B7BX77/graph.json","fetch_events":"https://pith.science/api/pith-number/YLBL422H2PMDNS242GC6B7BX77/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77/action/storage_attestation","attest_author":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77/action/author_attestation","sign_citation":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77/action/citation_signature","submit_replication":"https://pith.science/pith/YLBL422H2PMDNS242GC6B7BX77/action/replication_record"}},"created_at":"2026-07-05T09:39:13.577197+00:00","updated_at":"2026-07-05T09:39:13.577197+00:00"}