{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:GCO2SZ73RSVTEN77WOMNKEVTZE","short_pith_number":"pith:GCO2SZ73","schema_version":"1.0","canonical_sha256":"309da967fb8cab3237ffb398d512b3c93de1457e8f95ce793d5f00146b5adb33","source":{"kind":"arxiv","id":"2205.06940","version":2},"attestation_state":"computed","paper":{"title":"BiAIT*: Symmetrical Bidirectional Optimal Path Planning with Adaptive Heuristic","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenming Li, Han Ma, Jiankun Wang, Max Q.-H. Meng, Peng Xu","submitted_at":"2022-05-14T01:32:45Z","abstract_excerpt":"Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic estimation in AIT* consumes lots of computational resources, and its asymmetric bidirectional searching strategy cannot fully exploit the potential of the bidirectional method. In this article, we propose an extension of AIT* called BiAIT*. Unlike AIT*, BiAIT* uses symmetrical bidirectional search for both the heuristic and space searching. The proposed metho"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2205.06940","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-05-14T01:32:45Z","cross_cats_sorted":[],"title_canon_sha256":"eb8d5656ba28be753c04de35f99b12821a3e788211a13a5bee59aa3211a64546","abstract_canon_sha256":"9151305f6a20f613d8fc1b884b7b5cf8a02455a10adc2dd2c35cb0a4c8536731"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:13:36.353242Z","signature_b64":"tZeUbwOrNMMyMtdA+MMrGZL1wduLTof0CY+eN43mw75/N3AK9its5apB2BJ2K43q+4yHTYDOKO+p11d9/8J0DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"309da967fb8cab3237ffb398d512b3c93de1457e8f95ce793d5f00146b5adb33","last_reissued_at":"2026-07-05T06:13:36.352587Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:13:36.352587Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"BiAIT*: Symmetrical Bidirectional Optimal Path Planning with Adaptive Heuristic","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenming Li, Han Ma, Jiankun Wang, Max Q.-H. Meng, Peng Xu","submitted_at":"2022-05-14T01:32:45Z","abstract_excerpt":"Adaptively Informed Trees (AIT*) is an algorithm that uses the problem-specific heuristic to avoid unnecessary searches, which significantly improves its performance, especially when collision checking is expensive. However, the heuristic estimation in AIT* consumes lots of computational resources, and its asymmetric bidirectional searching strategy cannot fully exploit the potential of the bidirectional method. In this article, we propose an extension of AIT* called BiAIT*. Unlike AIT*, BiAIT* uses symmetrical bidirectional search for both the heuristic and space searching. The proposed metho"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.06940","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2205.06940/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2205.06940","created_at":"2026-07-05T06:13:36.352678+00:00"},{"alias_kind":"arxiv_version","alias_value":"2205.06940v2","created_at":"2026-07-05T06:13:36.352678+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.06940","created_at":"2026-07-05T06:13:36.352678+00:00"},{"alias_kind":"pith_short_12","alias_value":"GCO2SZ73RSVT","created_at":"2026-07-05T06:13:36.352678+00:00"},{"alias_kind":"pith_short_16","alias_value":"GCO2SZ73RSVTEN77","created_at":"2026-07-05T06:13:36.352678+00:00"},{"alias_kind":"pith_short_8","alias_value":"GCO2SZ73","created_at":"2026-07-05T06:13:36.352678+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE","json":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE.json","graph_json":"https://pith.science/api/pith-number/GCO2SZ73RSVTEN77WOMNKEVTZE/graph.json","events_json":"https://pith.science/api/pith-number/GCO2SZ73RSVTEN77WOMNKEVTZE/events.json","paper":"https://pith.science/paper/GCO2SZ73"},"agent_actions":{"view_html":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE","download_json":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE.json","view_paper":"https://pith.science/paper/GCO2SZ73","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2205.06940&json=true","fetch_graph":"https://pith.science/api/pith-number/GCO2SZ73RSVTEN77WOMNKEVTZE/graph.json","fetch_events":"https://pith.science/api/pith-number/GCO2SZ73RSVTEN77WOMNKEVTZE/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE/action/timestamp_anchor","attest_storage":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE/action/storage_attestation","attest_author":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE/action/author_attestation","sign_citation":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE/action/citation_signature","submit_replication":"https://pith.science/pith/GCO2SZ73RSVTEN77WOMNKEVTZE/action/replication_record"}},"created_at":"2026-07-05T06:13:36.352678+00:00","updated_at":"2026-07-05T06:13:36.352678+00:00"}