{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:D6KC52JITYD7LSXV5CNF6LGNFY","short_pith_number":"pith:D6KC52JI","canonical_record":{"source":{"id":"1801.00787","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-02T16:55:06Z","cross_cats_sorted":["math.GN"],"title_canon_sha256":"b64dc0dfb354060c14d1ad8282c1d178dd34e31726521efa0f8bc6606bfdc911","abstract_canon_sha256":"d4e31101ed2d7ecb0bc9eb797acf8a026a5bb368d2833cf337dd95c9d322537f"},"schema_version":"1.0"},"canonical_sha256":"1f942ee9289e07f5caf5e89a5f2ccd2e28d74b99dda42545eecc34783046fa59","source":{"kind":"arxiv","id":"1801.00787","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.00787","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"arxiv_version","alias_value":"1801.00787v1","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.00787","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"pith_short_12","alias_value":"D6KC52JITYD7","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D6KC52JITYD7LSXV","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D6KC52JI","created_at":"2026-05-18T12:32:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:D6KC52JITYD7LSXV5CNF6LGNFY","target":"record","payload":{"canonical_record":{"source":{"id":"1801.00787","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-02T16:55:06Z","cross_cats_sorted":["math.GN"],"title_canon_sha256":"b64dc0dfb354060c14d1ad8282c1d178dd34e31726521efa0f8bc6606bfdc911","abstract_canon_sha256":"d4e31101ed2d7ecb0bc9eb797acf8a026a5bb368d2833cf337dd95c9d322537f"},"schema_version":"1.0"},"canonical_sha256":"1f942ee9289e07f5caf5e89a5f2ccd2e28d74b99dda42545eecc34783046fa59","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:16:16.007283Z","signature_b64":"mvEPDD3iaHsFNzI8yVbP6ceSSasl3HaO5SE3265nZ3/oUg4M6ktpCoK1/1CZLghG4eDKsj0nGG7FBH45ViL8Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1f942ee9289e07f5caf5e89a5f2ccd2e28d74b99dda42545eecc34783046fa59","last_reissued_at":"2026-05-18T00:16:16.006500Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:16:16.006500Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1801.00787","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":"2026-05-18T00:16:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BmRHqer5B+BVn+z+zuqPGHzka+cR5DIV9nwRFmz0PyBhBgbPAB/nfFL9p1sxDw43EMdey9e/9eUPnJ39K0dSAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T10:07:09.452063Z"},"content_sha256":"8bf1a168df4340e47d125bf0141f54d0b85d53e84d7212b7c71bde44e67d7c62","schema_version":"1.0","event_id":"sha256:8bf1a168df4340e47d125bf0141f54d0b85d53e84d7212b7c71bde44e67d7c62"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:D6KC52JITYD7LSXV5CNF6LGNFY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robots That Do Not Avoid Obstacles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.GN"],"primary_cat":"cs.RO","authors_text":"Apostolos Syropoulos, Kyriakos Papadopoulos","submitted_at":"2018-01-02T16:55:06Z","abstract_excerpt":"The motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we propose a more adoptive solution that uses fuzzy set theory and we expose this solution next to a sort survey on the recent theory of soft robots, for a future qualitative comparison between the two."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.00787","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":""},"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":"2026-05-18T00:16:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IERRpAW3G6udNAySdeUABcceKpVkXwWlLbv/XtGg4sxu+Px6HJVTsNm3TKytOBUN0I36B81iNrAZS4zu9VGeAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T10:07:09.452424Z"},"content_sha256":"2904f9b936a2baa6dea33d4c82146a0c75e47b14b23c0108b49cce0f569bfe0b","schema_version":"1.0","event_id":"sha256:2904f9b936a2baa6dea33d4c82146a0c75e47b14b23c0108b49cce0f569bfe0b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/D6KC52JITYD7LSXV5CNF6LGNFY/bundle.json","state_url":"https://pith.science/pith/D6KC52JITYD7LSXV5CNF6LGNFY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/D6KC52JITYD7LSXV5CNF6LGNFY/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":"2026-06-26T10:07:09Z","links":{"resolver":"https://pith.science/pith/D6KC52JITYD7LSXV5CNF6LGNFY","bundle":"https://pith.science/pith/D6KC52JITYD7LSXV5CNF6LGNFY/bundle.json","state":"https://pith.science/pith/D6KC52JITYD7LSXV5CNF6LGNFY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/D6KC52JITYD7LSXV5CNF6LGNFY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:D6KC52JITYD7LSXV5CNF6LGNFY","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":"d4e31101ed2d7ecb0bc9eb797acf8a026a5bb368d2833cf337dd95c9d322537f","cross_cats_sorted":["math.GN"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-02T16:55:06Z","title_canon_sha256":"b64dc0dfb354060c14d1ad8282c1d178dd34e31726521efa0f8bc6606bfdc911"},"schema_version":"1.0","source":{"id":"1801.00787","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.00787","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"arxiv_version","alias_value":"1801.00787v1","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.00787","created_at":"2026-05-18T00:16:16Z"},{"alias_kind":"pith_short_12","alias_value":"D6KC52JITYD7","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_16","alias_value":"D6KC52JITYD7LSXV","created_at":"2026-05-18T12:32:19Z"},{"alias_kind":"pith_short_8","alias_value":"D6KC52JI","created_at":"2026-05-18T12:32:19Z"}],"graph_snapshots":[{"event_id":"sha256:2904f9b936a2baa6dea33d4c82146a0c75e47b14b23c0108b49cce0f569bfe0b","target":"graph","created_at":"2026-05-18T00:16:16Z","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 motion planning problem is a fundamental problem in robotics, so that every autonomous robot should be able to deal with it. A number of solutions have been proposed and a probabilistic one seems to be quite reasonable. However, here we propose a more adoptive solution that uses fuzzy set theory and we expose this solution next to a sort survey on the recent theory of soft robots, for a future qualitative comparison between the two.","authors_text":"Apostolos Syropoulos, Kyriakos Papadopoulos","cross_cats":["math.GN"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-02T16:55:06Z","title":"Robots That Do Not Avoid Obstacles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.00787","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":"sha256:8bf1a168df4340e47d125bf0141f54d0b85d53e84d7212b7c71bde44e67d7c62","target":"record","created_at":"2026-05-18T00:16:16Z","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":"d4e31101ed2d7ecb0bc9eb797acf8a026a5bb368d2833cf337dd95c9d322537f","cross_cats_sorted":["math.GN"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-02T16:55:06Z","title_canon_sha256":"b64dc0dfb354060c14d1ad8282c1d178dd34e31726521efa0f8bc6606bfdc911"},"schema_version":"1.0","source":{"id":"1801.00787","kind":"arxiv","version":1}},"canonical_sha256":"1f942ee9289e07f5caf5e89a5f2ccd2e28d74b99dda42545eecc34783046fa59","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1f942ee9289e07f5caf5e89a5f2ccd2e28d74b99dda42545eecc34783046fa59","first_computed_at":"2026-05-18T00:16:16.006500Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:16:16.006500Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mvEPDD3iaHsFNzI8yVbP6ceSSasl3HaO5SE3265nZ3/oUg4M6ktpCoK1/1CZLghG4eDKsj0nGG7FBH45ViL8Dg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:16:16.007283Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.00787","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8bf1a168df4340e47d125bf0141f54d0b85d53e84d7212b7c71bde44e67d7c62","sha256:2904f9b936a2baa6dea33d4c82146a0c75e47b14b23c0108b49cce0f569bfe0b"],"state_sha256":"e81f50fccd941da4e52b91175f427491d0a98f89f043ed22110c272f99ebbf4e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9/p9iExM3pOTfl3zrYwMxJqSDAT7pQxL2SMcHBG22f90Z/Ea+tSIczeK9mHuayJKh0hXo7a04ikK5t1z9iRaCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-26T10:07:09.454442Z","bundle_sha256":"6ee159d7e5985a4fa5f2d02c8c2ee186c2b588abf490fd4ab4752dda42fd0af5"}}