{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:XIVGZTED6CVY2SKRHGLKGMOSOQ","short_pith_number":"pith:XIVGZTED","schema_version":"1.0","canonical_sha256":"ba2a6ccc83f0ab8d49513996a331d27438b17f6fa3c9e65a8482e998da4181b7","source":{"kind":"arxiv","id":"2005.13229","version":6},"attestation_state":"computed","paper":{"title":"3D-OGSE: Online Safe and Smooth Trajectory Generation using Generalized Shape Expansion in Unknown 3-D Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Satadal Ghosh, Senthil Hariharan Arul, Vrushabh Zinage","submitted_at":"2020-05-27T08:13:23Z","abstract_excerpt":"In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our approach constructs a safe-region, termed 'generalized shape', at each planning iteration, which represents the obstacle-free region based on locally-sensed environment information. A collision-free path is computed by sampling points in the generalized shape and is used to generate a smooth, time-parametrized trajectory by minimizing snap. The generated traject"},"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":"2005.13229","kind":"arxiv","version":6},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-05-27T08:13:23Z","cross_cats_sorted":[],"title_canon_sha256":"bf09761901953a996ab44ef4180d48d8bd97f43e355a92709155b294bc5a6d37","abstract_canon_sha256":"6b01fe3c9c2ed14378d078dcf4b8a57a15dec1fe8de7d6f02d9cbd5a191ab825"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:39:01.751859Z","signature_b64":"mX1w1Uf5al49PGHZINznEJSn5Jpx1THwoXNnSg7MauJu4HFGDUu9iN15aX8xkTBLI1DnoYT4O5sXW3P/0VpxDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ba2a6ccc83f0ab8d49513996a331d27438b17f6fa3c9e65a8482e998da4181b7","last_reissued_at":"2026-07-05T02:39:01.751427Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:39:01.751427Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"3D-OGSE: Online Safe and Smooth Trajectory Generation using Generalized Shape Expansion in Unknown 3-D Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dinesh Manocha, Satadal Ghosh, Senthil Hariharan Arul, Vrushabh Zinage","submitted_at":"2020-05-27T08:13:23Z","abstract_excerpt":"In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our approach constructs a safe-region, termed 'generalized shape', at each planning iteration, which represents the obstacle-free region based on locally-sensed environment information. A collision-free path is computed by sampling points in the generalized shape and is used to generate a smooth, time-parametrized trajectory by minimizing snap. The generated traject"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.13229","kind":"arxiv","version":6},"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/2005.13229/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":"2005.13229","created_at":"2026-07-05T02:39:01.751483+00:00"},{"alias_kind":"arxiv_version","alias_value":"2005.13229v6","created_at":"2026-07-05T02:39:01.751483+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.13229","created_at":"2026-07-05T02:39:01.751483+00:00"},{"alias_kind":"pith_short_12","alias_value":"XIVGZTED6CVY","created_at":"2026-07-05T02:39:01.751483+00:00"},{"alias_kind":"pith_short_16","alias_value":"XIVGZTED6CVY2SKR","created_at":"2026-07-05T02:39:01.751483+00:00"},{"alias_kind":"pith_short_8","alias_value":"XIVGZTED","created_at":"2026-07-05T02:39:01.751483+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/XIVGZTED6CVY2SKRHGLKGMOSOQ","json":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ.json","graph_json":"https://pith.science/api/pith-number/XIVGZTED6CVY2SKRHGLKGMOSOQ/graph.json","events_json":"https://pith.science/api/pith-number/XIVGZTED6CVY2SKRHGLKGMOSOQ/events.json","paper":"https://pith.science/paper/XIVGZTED"},"agent_actions":{"view_html":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ","download_json":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ.json","view_paper":"https://pith.science/paper/XIVGZTED","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2005.13229&json=true","fetch_graph":"https://pith.science/api/pith-number/XIVGZTED6CVY2SKRHGLKGMOSOQ/graph.json","fetch_events":"https://pith.science/api/pith-number/XIVGZTED6CVY2SKRHGLKGMOSOQ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ/action/storage_attestation","attest_author":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ/action/author_attestation","sign_citation":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ/action/citation_signature","submit_replication":"https://pith.science/pith/XIVGZTED6CVY2SKRHGLKGMOSOQ/action/replication_record"}},"created_at":"2026-07-05T02:39:01.751483+00:00","updated_at":"2026-07-05T02:39:01.751483+00:00"}