{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:Z4YKEAYSQKT5LBZVEDTP2ETNZ2","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":"1e971fe7bb19d3ba9ce5f2b04856ebbc574fa7d52e2fc1ebb4fa12b1ee431834","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-14T16:19:27Z","title_canon_sha256":"747aadc334c10d3d0a2ab79bd410efbcf459470fb2b03641b1446c4218c8ee71"},"schema_version":"1.0","source":{"id":"2208.06876","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2208.06876","created_at":"2026-07-05T05:02:26Z"},{"alias_kind":"arxiv_version","alias_value":"2208.06876v3","created_at":"2026-07-05T05:02:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2208.06876","created_at":"2026-07-05T05:02:26Z"},{"alias_kind":"pith_short_12","alias_value":"Z4YKEAYSQKT5","created_at":"2026-07-05T05:02:26Z"},{"alias_kind":"pith_short_16","alias_value":"Z4YKEAYSQKT5LBZV","created_at":"2026-07-05T05:02:26Z"},{"alias_kind":"pith_short_8","alias_value":"Z4YKEAYS","created_at":"2026-07-05T05:02:26Z"}],"graph_snapshots":[{"event_id":"sha256:3255a6cb14ea7f6a6826a5d33d7bdf817e7c38eec3f0237369f24ef8901ebc07","target":"graph","created_at":"2026-07-05T05:02:26Z","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/2208.06876/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere world is essential and, at the same time, challenging. This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with obstacles of arbitrary shapes. The properties of the conformal navigation transformation, including uniqueness, invariance of navigation pr","authors_text":"Jianchang Liu, Li Fan, Peng Xu, Wenle Zhang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-14T16:19:27Z","title":"Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.06876","kind":"arxiv","version":3},"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:fcc3df80850942664cf4e3f2225ca8f7df1e951c11885ca2e03efa22adbff52f","target":"record","created_at":"2026-07-05T05:02:26Z","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":"1e971fe7bb19d3ba9ce5f2b04856ebbc574fa7d52e2fc1ebb4fa12b1ee431834","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-08-14T16:19:27Z","title_canon_sha256":"747aadc334c10d3d0a2ab79bd410efbcf459470fb2b03641b1446c4218c8ee71"},"schema_version":"1.0","source":{"id":"2208.06876","kind":"arxiv","version":3}},"canonical_sha256":"cf30a2031282a7d5873520e6fd126dceb86db44f1c64377cacce98df84615f5b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cf30a2031282a7d5873520e6fd126dceb86db44f1c64377cacce98df84615f5b","first_computed_at":"2026-07-05T05:02:26.916741Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:02:26.916741Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Y/YJZWJloqe1qa3xtiMmLdAs0FiWpLXTucqhnX+/ocTMUDPeZ7rVJgrYIxoaKrc7V8w3nRJ5+yEiQ2ybx1PmCg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:02:26.917278Z","signed_message":"canonical_sha256_bytes"},"source_id":"2208.06876","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fcc3df80850942664cf4e3f2225ca8f7df1e951c11885ca2e03efa22adbff52f","sha256:3255a6cb14ea7f6a6826a5d33d7bdf817e7c38eec3f0237369f24ef8901ebc07"],"state_sha256":"40e472c5775d027275b3c3e96a5605423e39306c660e5d5ad3a6a3d870691d1e"}