diff --git a/CHANGELOG.md b/CHANGELOG.md
index f39e155..58da9f5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,12 +2,16 @@
 
 All notable changes to this project will be documented in this file, in reverse chronological order by release.
 
-## 3.1.0 - TBD
+## 3.1.0 - 2018-06-18
 
 ### Added
 
 - Nothing.
 
+### Changed
+
+- Nothing.
+
 ### Deprecated
 
 - Nothing.
@@ -18,7 +22,10 @@ All notable changes to this project will be documented in this file, in reverse
 
 ### Fixed
 
-- Nothing.
+- [#47](https://github.com/zendframework/zend-router/pull/47) fixes how the `Wildcard` URL assembly works. Previously, it would
+  attempt to `rawurlencode()` all values provided to the method as merged with any default values.
+  It now properly skips any non-scalar values when assembling the URL path. This fixes an issue
+  discovered when providing an array of middleware as a `middleware` default route parameter.
 
 ## 3.0.2 - 2016-05-31
 
diff --git a/composer.json b/composer.json
index 461559c..458b606 100644
--- a/composer.json
+++ b/composer.json
@@ -50,8 +50,8 @@
     },
     "extra": {
         "branch-alias": {
-            "dev-master": "3.0-dev",
-            "dev-develop": "3.1-dev"
+            "dev-master": "3.1.x-dev",
+            "dev-develop": "3.2.x-dev"
         },
         "zf": {
             "component": "Zend\\Router",
diff --git a/composer.lock b/composer.lock
index a09c00a..6ff4d36 100644
--- a/composer.lock
+++ b/composer.lock
@@ -1,10 +1,10 @@
 {
     "_readme": [
         "This file locks the dependencies of your project to a known state",
-        "Read more about it at https://getcomposer.org/doc/01-basic-usage.md#composer-lock-the-lock-file",
+        "Read more about it at https://getcomposer.org/doc/01-basic-usage.md#installing-dependencies",
         "This file is @generated automatically"
     ],
-    "content-hash": "8624751621bbfc18a2c1dd41b0441e19",
+    "content-hash": "eeabe1c9995e9b7c0bbc518162270e5c",
     "packages": [
         {
             "name": "container-interop/container-interop",
diff --git a/src/Http/Wildcard.php b/src/Http/Wildcard.php
index a56f3b7..e212e4e 100644
--- a/src/Http/Wildcard.php
+++ b/src/Http/Wildcard.php
@@ -168,8 +168,11 @@ public function assemble(array $params = [], array $options = [])
 
         if ($mergedParams) {
             foreach ($mergedParams as $key => $value) {
-                $elements[] = rawurlencode($key) . $this->keyValueDelimiter . rawurlencode($value);
+                if (! is_scalar($value)) {
+                    continue;
+                }
 
+                $elements[] = rawurlencode($key) . $this->keyValueDelimiter . rawurlencode($value);
                 $this->assembledParams[] = $key;
             }
 
diff --git a/test/Http/WildcardTest.php b/test/Http/WildcardTest.php
index a766868..de7e733 100644
--- a/test/Http/WildcardTest.php
+++ b/test/Http/WildcardTest.php
@@ -189,4 +189,19 @@ public function testEncodedDecode()
 
         $this->assertSame($out, $match->getParam('foo'));
     }
+
+    public function testPathAssemblyShouldSkipAnyNonScalarValues()
+    {
+        $route = new Wildcard('/', '/', [
+            'action' => 'index',
+            'controller' => 'index',
+            'middleware' => [
+                \Some\ConnectMiddleware::class,
+                \Some\Handler::class,
+            ],
+        ]);
+
+        $path = $route->assemble();
+        $this->assertEquals('/action/index/controller/index', $path);
+    }
 }