{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:CXVAJOVQALDSAHH3XWRGBA6FSX","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":"102e5b11720f5f59302a43003a2a2e69b1cc660151204ebfc8e7108f8489c920","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NE","submitted_at":"2024-03-19T13:56:34Z","title_canon_sha256":"0d68dbf14d915fa604e0d065c62316fb33341062f2a8bfec99d491ddce7a4b37"},"schema_version":"1.0","source":{"id":"2403.12739","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.12739","created_at":"2026-07-05T07:58:06Z"},{"alias_kind":"arxiv_version","alias_value":"2403.12739v1","created_at":"2026-07-05T07:58:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.12739","created_at":"2026-07-05T07:58:06Z"},{"alias_kind":"pith_short_12","alias_value":"CXVAJOVQALDS","created_at":"2026-07-05T07:58:06Z"},{"alias_kind":"pith_short_16","alias_value":"CXVAJOVQALDSAHH3","created_at":"2026-07-05T07:58:06Z"},{"alias_kind":"pith_short_8","alias_value":"CXVAJOVQ","created_at":"2026-07-05T07:58:06Z"}],"graph_snapshots":[{"event_id":"sha256:08e981798aba747b2022a60761b2e28b5e988f5d1032b09efb50246d942c4c8a","target":"graph","created_at":"2026-07-05T07:58:06Z","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/2403.12739/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation (SPSO) technique is proposed in this study. The UAV is supposed to go from a starting point to an end point through an optimal path according to some flight criteria. Path length, Safety, Attitude and Path Smoothness are all taken into account upon deciding how an optimal path should be. The path is constructed as a set of way-points that stands as re-plannin","authors_text":"A. Hussien, Mohammed Abido, Mohammed R. Elbalshy, Mohssen E. Elshaar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NE","submitted_at":"2024-03-19T13:56:34Z","title":"Path Planning in a dynamic environment using Spherical Particle Swarm Optimization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.12739","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:c00eb2cfa4e5dbf51b57363cf230c2e5006473d3f11e92d76a9ac9381756a1ed","target":"record","created_at":"2026-07-05T07:58:06Z","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":"102e5b11720f5f59302a43003a2a2e69b1cc660151204ebfc8e7108f8489c920","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.NE","submitted_at":"2024-03-19T13:56:34Z","title_canon_sha256":"0d68dbf14d915fa604e0d065c62316fb33341062f2a8bfec99d491ddce7a4b37"},"schema_version":"1.0","source":{"id":"2403.12739","kind":"arxiv","version":1}},"canonical_sha256":"15ea04bab002c7201cfbbda26083c595c979c5765d3f693fabd8f78b16e87d4e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"15ea04bab002c7201cfbbda26083c595c979c5765d3f693fabd8f78b16e87d4e","first_computed_at":"2026-07-05T07:58:06.292957Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:58:06.292957Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5jM9qP+GFigl0ZWjnq2EggcaZxGWUXtRf4nAt2yFlEi+FTlRDNOGm4l+TaduZEj9Q300cJ7quWhgoz+o4G4dBA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:58:06.293423Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.12739","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c00eb2cfa4e5dbf51b57363cf230c2e5006473d3f11e92d76a9ac9381756a1ed","sha256:08e981798aba747b2022a60761b2e28b5e988f5d1032b09efb50246d942c4c8a"],"state_sha256":"10499ac55f035b8f5726799a59739f8de743ab5f7e56ed981ed3808a72e70d02"}