{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:6DOGG5C3SDZ6QHXJZSOJSVXOOB","short_pith_number":"pith:6DOGG5C3","canonical_record":{"source":{"id":"1801.05629","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-01-17T11:53:26Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"8cc1f1f2fb0c352c8dd253e6eaa336fba42a8f0a575098bfd567ed32e164029d","abstract_canon_sha256":"0f980863b0d1156c4a2bd2f672e4f7bbe4cf5f0f8cf645e44208da3ea5219987"},"schema_version":"1.0"},"canonical_sha256":"f0dc63745b90f3e81ee9cc9c9956ee7043d93b18cf39be5625f65649fdf7d0e6","source":{"kind":"arxiv","id":"1801.05629","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.05629","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"arxiv_version","alias_value":"1801.05629v2","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.05629","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"pith_short_12","alias_value":"6DOGG5C3SDZ6","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6DOGG5C3SDZ6QHXJ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6DOGG5C3","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:6DOGG5C3SDZ6QHXJZSOJSVXOOB","target":"record","payload":{"canonical_record":{"source":{"id":"1801.05629","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-01-17T11:53:26Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"8cc1f1f2fb0c352c8dd253e6eaa336fba42a8f0a575098bfd567ed32e164029d","abstract_canon_sha256":"0f980863b0d1156c4a2bd2f672e4f7bbe4cf5f0f8cf645e44208da3ea5219987"},"schema_version":"1.0"},"canonical_sha256":"f0dc63745b90f3e81ee9cc9c9956ee7043d93b18cf39be5625f65649fdf7d0e6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:25:15.073680Z","signature_b64":"I0XiWEy2v+JslvnLBW41u3NRgr7xXp2I1qpl+RPL05Q17/UqXxL+L4y5xasEu2A/A8HtZFDfUAIPwxyCDgJoCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f0dc63745b90f3e81ee9cc9c9956ee7043d93b18cf39be5625f65649fdf7d0e6","last_reissued_at":"2026-05-18T00:25:15.073000Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:25:15.073000Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1801.05629","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:25:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IObgVm+xvlX2Jpw2cMDTlARRePv2EXZ6/Wd9q2xLkITLptzfqnJz7kvxusQfgy9qGdKAMFcWHol3tX0eWiYwBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T19:54:22.660974Z"},"content_sha256":"c8c9cf749fc66cc89fa5b9ae2adefc11cbd1b715da7abd5ea411161579a89cfd","schema_version":"1.0","event_id":"sha256:c8c9cf749fc66cc89fa5b9ae2adefc11cbd1b715da7abd5ea411161579a89cfd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:6DOGG5C3SDZ6QHXJZSOJSVXOOB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Game-Theoretical Strategy of Robot in the Area with Dynamical Obstacles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"math.OC","authors_text":"Oleg Malafeyev","submitted_at":"2018-01-17T11:53:26Z","abstract_excerpt":"The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two subproblems solved separately. In an autonomous regime the trajectory planning is fulfilled for providing the robot movement time close to the minimal."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.05629","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"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":"2026-05-18T00:25:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pXSY82Svd5rNat2QlsQAva/WfxRE/fb4aduc93PjusJ38cDBseckmxpE3Ly6HtXCIm0FTXJHC7MhJ7GpEsZJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T19:54:22.661549Z"},"content_sha256":"322fff5525fd5784fee695ebdf3d674511e65f264a4c98fe2f90bd8457453f44","schema_version":"1.0","event_id":"sha256:322fff5525fd5784fee695ebdf3d674511e65f264a4c98fe2f90bd8457453f44"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/bundle.json","state_url":"https://pith.science/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/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":"2026-06-28T19:54:22Z","links":{"resolver":"https://pith.science/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB","bundle":"https://pith.science/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/bundle.json","state":"https://pith.science/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6DOGG5C3SDZ6QHXJZSOJSVXOOB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:6DOGG5C3SDZ6QHXJZSOJSVXOOB","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":"0f980863b0d1156c4a2bd2f672e4f7bbe4cf5f0f8cf645e44208da3ea5219987","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-01-17T11:53:26Z","title_canon_sha256":"8cc1f1f2fb0c352c8dd253e6eaa336fba42a8f0a575098bfd567ed32e164029d"},"schema_version":"1.0","source":{"id":"1801.05629","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.05629","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"arxiv_version","alias_value":"1801.05629v2","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.05629","created_at":"2026-05-18T00:25:15Z"},{"alias_kind":"pith_short_12","alias_value":"6DOGG5C3SDZ6","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6DOGG5C3SDZ6QHXJ","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6DOGG5C3","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:322fff5525fd5784fee695ebdf3d674511e65f264a4c98fe2f90bd8457453f44","target":"graph","created_at":"2026-05-18T00:25:15Z","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"},"paper":{"abstract_excerpt":"The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two subproblems solved separately. In an autonomous regime the trajectory planning is fulfilled for providing the robot movement time close to the minimal.","authors_text":"Oleg Malafeyev","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-01-17T11:53:26Z","title":"Game-Theoretical Strategy of Robot in the Area with Dynamical Obstacles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.05629","kind":"arxiv","version":2},"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:c8c9cf749fc66cc89fa5b9ae2adefc11cbd1b715da7abd5ea411161579a89cfd","target":"record","created_at":"2026-05-18T00:25:15Z","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":"0f980863b0d1156c4a2bd2f672e4f7bbe4cf5f0f8cf645e44208da3ea5219987","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-01-17T11:53:26Z","title_canon_sha256":"8cc1f1f2fb0c352c8dd253e6eaa336fba42a8f0a575098bfd567ed32e164029d"},"schema_version":"1.0","source":{"id":"1801.05629","kind":"arxiv","version":2}},"canonical_sha256":"f0dc63745b90f3e81ee9cc9c9956ee7043d93b18cf39be5625f65649fdf7d0e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f0dc63745b90f3e81ee9cc9c9956ee7043d93b18cf39be5625f65649fdf7d0e6","first_computed_at":"2026-05-18T00:25:15.073000Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:25:15.073000Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"I0XiWEy2v+JslvnLBW41u3NRgr7xXp2I1qpl+RPL05Q17/UqXxL+L4y5xasEu2A/A8HtZFDfUAIPwxyCDgJoCw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:25:15.073680Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.05629","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c8c9cf749fc66cc89fa5b9ae2adefc11cbd1b715da7abd5ea411161579a89cfd","sha256:322fff5525fd5784fee695ebdf3d674511e65f264a4c98fe2f90bd8457453f44"],"state_sha256":"8e9e9544165c05d21528c0aa9b4d877967d81315b3fc394f2d218220d8ee9dcd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dIAYQ7IBDlgcSalyHwAogHNO1XHd9Tg9SPZWH/UrXPcyrg3pXqTcbSeZnEPntvXTjlZDipNr+qkqhbJLdY4rAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T19:54:22.664151Z","bundle_sha256":"193a6286af9419f5c4f1795a3f4df01c1ac2177812044e137c3e6c26732efcaa"}}