{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:3MJG4BNLKHHQR2LRHAEDEENZBG","short_pith_number":"pith:3MJG4BNL","canonical_record":{"source":{"id":"2506.24083","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-06-30T17:39:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"849758c2e66bd0643a4e1e1506fe9900b3d3deb20d38d4103fced288663160c8","abstract_canon_sha256":"c9f379b431b9e3e3fccee2facd8d8877c828e5acaa5339813bbdbcc350ef345e"},"schema_version":"1.0"},"canonical_sha256":"db126e05ab51cf08e97138083211b9099b4c9f1436d1be903c19fdbec05c8f13","source":{"kind":"arxiv","id":"2506.24083","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.24083","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"arxiv_version","alias_value":"2506.24083v1","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.24083","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_12","alias_value":"3MJG4BNLKHHQ","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_16","alias_value":"3MJG4BNLKHHQR2LR","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_8","alias_value":"3MJG4BNL","created_at":"2026-07-05T11:29:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:3MJG4BNLKHHQR2LRHAEDEENZBG","target":"record","payload":{"canonical_record":{"source":{"id":"2506.24083","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-06-30T17:39:31Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"849758c2e66bd0643a4e1e1506fe9900b3d3deb20d38d4103fced288663160c8","abstract_canon_sha256":"c9f379b431b9e3e3fccee2facd8d8877c828e5acaa5339813bbdbcc350ef345e"},"schema_version":"1.0"},"canonical_sha256":"db126e05ab51cf08e97138083211b9099b4c9f1436d1be903c19fdbec05c8f13","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:29:32.904219Z","signature_b64":"R7Ud+4Dv8q5ne4DT8N8vO7BiB8hhKoLHvY2wU4GYzl4V60q+KmRo0va9zxLAAoJb3edYCNa0FjerqhJhHHPsDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"db126e05ab51cf08e97138083211b9099b4c9f1436d1be903c19fdbec05c8f13","last_reissued_at":"2026-07-05T11:29:32.903726Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:29:32.903726Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.24083","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":"2026-07-05T11:29:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+o2YXBaL+B2oXV+DlNVnAqd9wnQpN2gY1CdoCVxftyaSP5VOxcvzMZsCtQI4U1RU1sr2upVXy97M0dvYYt0UAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T20:44:13.338145Z"},"content_sha256":"514925c7219b31454ead5e4c939301f2f108a80947b58c99fe81a6e5ac6b37ce","schema_version":"1.0","event_id":"sha256:514925c7219b31454ead5e4c939301f2f108a80947b58c99fe81a6e5ac6b37ce"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:3MJG4BNLKHHQR2LRHAEDEENZBG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Anouck Girard, Ilya Kolmanovsky, Robin Inho Kee, Taehyeun Kim","submitted_at":"2025-06-30T17:39:31Z","abstract_excerpt":"This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This MPC-CBF approach is defined for obstacle-free curved road tracking, while following distance and obstacle avoidance constraints are handled using standard CBFs and relaxed Collision Cone CBFs. In order to address scenarios involving rapidly moving obstacles or rapidly changing leading vehicle's behavior, the TSG augmentation is employed which alters the target reference to enforce constraints. Simulation results dem"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.24083","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2506.24083/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:29:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0E7twf2geeGTMo3dYRV87oWxyPHUpiWTL3mtbJXidA2QbpX1zAhJ/w4I9bkOmxWwZ6LtG4fsSteyiye/dZ8gCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T20:44:13.339260Z"},"content_sha256":"84ec56655d5fe8e4bd236499c85e945e456e82bea7db8395fd0f9dde697eb619","schema_version":"1.0","event_id":"sha256:84ec56655d5fe8e4bd236499c85e945e456e82bea7db8395fd0f9dde697eb619"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/bundle.json","state_url":"https://pith.science/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/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":"2026-08-10T20:44:13Z","links":{"resolver":"https://pith.science/pith/3MJG4BNLKHHQR2LRHAEDEENZBG","bundle":"https://pith.science/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/bundle.json","state":"https://pith.science/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3MJG4BNLKHHQR2LRHAEDEENZBG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:3MJG4BNLKHHQR2LRHAEDEENZBG","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":"c9f379b431b9e3e3fccee2facd8d8877c828e5acaa5339813bbdbcc350ef345e","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-06-30T17:39:31Z","title_canon_sha256":"849758c2e66bd0643a4e1e1506fe9900b3d3deb20d38d4103fced288663160c8"},"schema_version":"1.0","source":{"id":"2506.24083","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.24083","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"arxiv_version","alias_value":"2506.24083v1","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.24083","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_12","alias_value":"3MJG4BNLKHHQ","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_16","alias_value":"3MJG4BNLKHHQR2LR","created_at":"2026-07-05T11:29:32Z"},{"alias_kind":"pith_short_8","alias_value":"3MJG4BNL","created_at":"2026-07-05T11:29:32Z"}],"graph_snapshots":[{"event_id":"sha256:84ec56655d5fe8e4bd236499c85e945e456e82bea7db8395fd0f9dde697eb619","target":"graph","created_at":"2026-07-05T11:29:32Z","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/2506.24083/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This MPC-CBF approach is defined for obstacle-free curved road tracking, while following distance and obstacle avoidance constraints are handled using standard CBFs and relaxed Collision Cone CBFs. In order to address scenarios involving rapidly moving obstacles or rapidly changing leading vehicle's behavior, the TSG augmentation is employed which alters the target reference to enforce constraints. Simulation results dem","authors_text":"Anouck Girard, Ilya Kolmanovsky, Robin Inho Kee, Taehyeun Kim","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-06-30T17:39:31Z","title":"Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.24083","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":"sha256:514925c7219b31454ead5e4c939301f2f108a80947b58c99fe81a6e5ac6b37ce","target":"record","created_at":"2026-07-05T11:29:32Z","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":"c9f379b431b9e3e3fccee2facd8d8877c828e5acaa5339813bbdbcc350ef345e","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2025-06-30T17:39:31Z","title_canon_sha256":"849758c2e66bd0643a4e1e1506fe9900b3d3deb20d38d4103fced288663160c8"},"schema_version":"1.0","source":{"id":"2506.24083","kind":"arxiv","version":1}},"canonical_sha256":"db126e05ab51cf08e97138083211b9099b4c9f1436d1be903c19fdbec05c8f13","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"db126e05ab51cf08e97138083211b9099b4c9f1436d1be903c19fdbec05c8f13","first_computed_at":"2026-07-05T11:29:32.903726Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:29:32.903726Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"R7Ud+4Dv8q5ne4DT8N8vO7BiB8hhKoLHvY2wU4GYzl4V60q+KmRo0va9zxLAAoJb3edYCNa0FjerqhJhHHPsDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:29:32.904219Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.24083","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:514925c7219b31454ead5e4c939301f2f108a80947b58c99fe81a6e5ac6b37ce","sha256:84ec56655d5fe8e4bd236499c85e945e456e82bea7db8395fd0f9dde697eb619"],"state_sha256":"430b9f469bccd98206aafc2f1f679d786eed36aac800a47a53ed71a4f710f6f1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AjKNYMKcy00lZ3zKw0Vwtn+sa1j//1O4snvqqestAapAG4mkJTE4YxRJ5GgGBxrIkDsqBicf68qELG+cmNGvAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T20:44:13.345014Z","bundle_sha256":"348728cf1d29c51f84d00e1b27ccbe01c2b98380fe7b4f0305c1d0f2c9695071"}}