{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:ZJ3G2GU7NSUYPG4VSJTS7GH3ML","short_pith_number":"pith:ZJ3G2GU7","canonical_record":{"source":{"id":"2411.12014","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T19:55:43Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ce6b2080c46fbea5906d75136bfe62ebe30878fcf9ba1c25d7788db926d8f813","abstract_canon_sha256":"b0ea4f764a0c1b77f00c3f8d832823fd4303be9c5f550fd5558391f31674f5ce"},"schema_version":"1.0"},"canonical_sha256":"ca766d1a9f6ca9879b9592672f98fb62ca0be8f80b3f6459300968d236f83598","source":{"kind":"arxiv","id":"2411.12014","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.12014","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"arxiv_version","alias_value":"2411.12014v1","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.12014","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_12","alias_value":"ZJ3G2GU7NSUY","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_16","alias_value":"ZJ3G2GU7NSUYPG4V","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_8","alias_value":"ZJ3G2GU7","created_at":"2026-07-05T09:37:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:ZJ3G2GU7NSUYPG4VSJTS7GH3ML","target":"record","payload":{"canonical_record":{"source":{"id":"2411.12014","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T19:55:43Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ce6b2080c46fbea5906d75136bfe62ebe30878fcf9ba1c25d7788db926d8f813","abstract_canon_sha256":"b0ea4f764a0c1b77f00c3f8d832823fd4303be9c5f550fd5558391f31674f5ce"},"schema_version":"1.0"},"canonical_sha256":"ca766d1a9f6ca9879b9592672f98fb62ca0be8f80b3f6459300968d236f83598","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:37:15.154416Z","signature_b64":"FllldDTf5OdH8ws35olnPlWv6P8wjYOQnQqkIuVxS7j5fPkcdzFJWR+Ztwzm1qdwO8NQSCjfDqN4AgZ7DDOnDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ca766d1a9f6ca9879b9592672f98fb62ca0be8f80b3f6459300968d236f83598","last_reissued_at":"2026-07-05T09:37:15.153958Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:37:15.153958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2411.12014","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":"2026-07-05T09:37:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p2u4koYMjkseVJGOUD65AXLWbogae6k4/+LOXPRggsu3fjSUmSvPsrjTg8xqN+Pcy3nw1yXfK0p1hKh3HskFBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:17:25.674534Z"},"content_sha256":"df117c29d2c9005ee5ca4bd852a6f7c28a58686ec7f59464b1bfc0aa8716dbb8","schema_version":"1.0","event_id":"sha256:df117c29d2c9005ee5ca4bd852a6f7c28a58686ec7f59464b1bfc0aa8716dbb8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:ZJ3G2GU7NSUYPG4VSJTS7GH3ML","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On-the-Go Path Planning and Repair in Static and Dynamic Scenarios","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Daniel Ajeleye","submitted_at":"2024-11-18T19:55:43Z","abstract_excerpt":"Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly shifting. Although, traditional motion planning algorithms like the wavefront planner and gradient descent planner, which use potential functions, work well in static environments, they fall short in situations where the environment is continuously changing. This work proposes a dynamic, real-time path planning approach specifically designed for autonomous system"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.12014","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/2411.12014/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":"2026-07-05T09:37:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zaAnOiJ4Tr2aTISPI7VPSOOn08ypXjUfiMQF2zlTtYNLj1AFAgX8IkX6t/XJCKZ9Vu3qVQQoleZ+meKEoSKQAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T22:17:25.675058Z"},"content_sha256":"6334492231d5b73f1b8a4ec4cd0376a08880f3dec420335e695fa0b9128995b2","schema_version":"1.0","event_id":"sha256:6334492231d5b73f1b8a4ec4cd0376a08880f3dec420335e695fa0b9128995b2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/bundle.json","state_url":"https://pith.science/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/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":"2026-08-21T22:17:25Z","links":{"resolver":"https://pith.science/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML","bundle":"https://pith.science/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/bundle.json","state":"https://pith.science/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZJ3G2GU7NSUYPG4VSJTS7GH3ML/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZJ3G2GU7NSUYPG4VSJTS7GH3ML","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":"b0ea4f764a0c1b77f00c3f8d832823fd4303be9c5f550fd5558391f31674f5ce","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T19:55:43Z","title_canon_sha256":"ce6b2080c46fbea5906d75136bfe62ebe30878fcf9ba1c25d7788db926d8f813"},"schema_version":"1.0","source":{"id":"2411.12014","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.12014","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"arxiv_version","alias_value":"2411.12014v1","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.12014","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_12","alias_value":"ZJ3G2GU7NSUY","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_16","alias_value":"ZJ3G2GU7NSUYPG4V","created_at":"2026-07-05T09:37:15Z"},{"alias_kind":"pith_short_8","alias_value":"ZJ3G2GU7","created_at":"2026-07-05T09:37:15Z"}],"graph_snapshots":[{"event_id":"sha256:6334492231d5b73f1b8a4ec4cd0376a08880f3dec420335e695fa0b9128995b2","target":"graph","created_at":"2026-07-05T09:37:15Z","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/2411.12014/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly shifting. Although, traditional motion planning algorithms like the wavefront planner and gradient descent planner, which use potential functions, work well in static environments, they fall short in situations where the environment is continuously changing. This work proposes a dynamic, real-time path planning approach specifically designed for autonomous system","authors_text":"Daniel Ajeleye","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T19:55:43Z","title":"On-the-Go Path Planning and Repair in Static and Dynamic Scenarios"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.12014","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:df117c29d2c9005ee5ca4bd852a6f7c28a58686ec7f59464b1bfc0aa8716dbb8","target":"record","created_at":"2026-07-05T09:37:15Z","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":"b0ea4f764a0c1b77f00c3f8d832823fd4303be9c5f550fd5558391f31674f5ce","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-18T19:55:43Z","title_canon_sha256":"ce6b2080c46fbea5906d75136bfe62ebe30878fcf9ba1c25d7788db926d8f813"},"schema_version":"1.0","source":{"id":"2411.12014","kind":"arxiv","version":1}},"canonical_sha256":"ca766d1a9f6ca9879b9592672f98fb62ca0be8f80b3f6459300968d236f83598","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca766d1a9f6ca9879b9592672f98fb62ca0be8f80b3f6459300968d236f83598","first_computed_at":"2026-07-05T09:37:15.153958Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:37:15.153958Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FllldDTf5OdH8ws35olnPlWv6P8wjYOQnQqkIuVxS7j5fPkcdzFJWR+Ztwzm1qdwO8NQSCjfDqN4AgZ7DDOnDg==","signature_status":"signed_v1","signed_at":"2026-07-05T09:37:15.154416Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.12014","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:df117c29d2c9005ee5ca4bd852a6f7c28a58686ec7f59464b1bfc0aa8716dbb8","sha256:6334492231d5b73f1b8a4ec4cd0376a08880f3dec420335e695fa0b9128995b2"],"state_sha256":"d612f29ef789806fc0d50fa3a9c8cb84f70ea6e6eddce9f93177993135a38721"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l3+2S0fWs+/qMjwejI6izlR+FAC+BrLuVimf9NNBGcK6qXlp4r4DOR0G/ikx+l8BqnciZoXWYeVKSMCn4jbwCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T22:17:25.680002Z","bundle_sha256":"51d12298a7637021ff0cb949ce9c22cb1a9732082352b3402b7da8567e30f964"}}