{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4WY25EZ6OVWY4C3BR7FZ67HZBR","short_pith_number":"pith:4WY25EZ6","canonical_record":{"source":{"id":"2209.04346","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T15:17:09Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"f6b99d0603c11bdd63de9f8543cbb78719972b03cb14f98a4706b412bec0b163","abstract_canon_sha256":"70c711c4767b973d2e3e5b2d0695e5c5b1813f6a7b01c1057e14acb79abfec4d"},"schema_version":"1.0"},"canonical_sha256":"e5b1ae933e756d8e0b618fcb9f7cf90c475027638cadb09204bdca2fc584e8a6","source":{"kind":"arxiv","id":"2209.04346","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.04346","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"arxiv_version","alias_value":"2209.04346v4","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.04346","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_12","alias_value":"4WY25EZ6OVWY","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_16","alias_value":"4WY25EZ6OVWY4C3B","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_8","alias_value":"4WY25EZ6","created_at":"2026-07-05T06:28:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4WY25EZ6OVWY4C3BR7FZ67HZBR","target":"record","payload":{"canonical_record":{"source":{"id":"2209.04346","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T15:17:09Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"f6b99d0603c11bdd63de9f8543cbb78719972b03cb14f98a4706b412bec0b163","abstract_canon_sha256":"70c711c4767b973d2e3e5b2d0695e5c5b1813f6a7b01c1057e14acb79abfec4d"},"schema_version":"1.0"},"canonical_sha256":"e5b1ae933e756d8e0b618fcb9f7cf90c475027638cadb09204bdca2fc584e8a6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:28:31.894699Z","signature_b64":"/hdS4Jgt+HaZwQ92Ap+r5jiTyhPO22Hrfb7IrOfubKWJdJu/6m04ZBpOcAk3JhvXR2tl3N8HFVNgJmGxaJ8UDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e5b1ae933e756d8e0b618fcb9f7cf90c475027638cadb09204bdca2fc584e8a6","last_reissued_at":"2026-07-05T06:28:31.894198Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:28:31.894198Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.04346","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:28:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fFlaKryCjsXljtWWg7UGpgMzBSMJrFnOqiD2hhUQ1IghJpTDjvidsHf5IuRIEi9evOHrBiXQtPmvAOWy3fCFAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T13:06:44.801572Z"},"content_sha256":"d28dd0b08777b84258f1e821734ac7e5cee64cb4308a05ac8ce1af8e23cd30be","schema_version":"1.0","event_id":"sha256:d28dd0b08777b84258f1e821734ac7e5cee64cb4308a05ac8ce1af8e23cd30be"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4WY25EZ6OVWY4C3BR7FZ67HZBR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Edoardo Ghignone, Jonathan Becker, Luca Schwarzenbach, Michele Magno, Nadine Imholz, Nicolas Baumann","submitted_at":"2022-09-09T15:17:09Z","abstract_excerpt":"Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational constraint and complexity often limit the use of Model Predictive Control (MPC). As a consequence, geometric controllers are the most frequently deployed controllers. They prove to be performant while yielding implementation and operational simplicity. Yet, they inherently lack the incorporation of model dynamics, thus limiting the race car to a velocity domai"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.04346","kind":"arxiv","version":4},"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/2209.04346/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":"2026-07-05T06:28:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lwbu+Higg9WoNp57PAdKGHylGk52pDmz8O+jxLV2U0G4X8WShEu0mVEDwL7weM7FY4oVsgloBDvjqniaxhIPCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T13:06:44.802122Z"},"content_sha256":"7213b4f70b9c7dfbffcc3fc97065f0bf56d71c6b8aa740f857ad55ddba5ccccb","schema_version":"1.0","event_id":"sha256:7213b4f70b9c7dfbffcc3fc97065f0bf56d71c6b8aa740f857ad55ddba5ccccb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/bundle.json","state_url":"https://pith.science/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/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":"2026-08-06T13:06:44Z","links":{"resolver":"https://pith.science/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR","bundle":"https://pith.science/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/bundle.json","state":"https://pith.science/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4WY25EZ6OVWY4C3BR7FZ67HZBR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4WY25EZ6OVWY4C3BR7FZ67HZBR","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":"70c711c4767b973d2e3e5b2d0695e5c5b1813f6a7b01c1057e14acb79abfec4d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T15:17:09Z","title_canon_sha256":"f6b99d0603c11bdd63de9f8543cbb78719972b03cb14f98a4706b412bec0b163"},"schema_version":"1.0","source":{"id":"2209.04346","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.04346","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"arxiv_version","alias_value":"2209.04346v4","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.04346","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_12","alias_value":"4WY25EZ6OVWY","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_16","alias_value":"4WY25EZ6OVWY4C3B","created_at":"2026-07-05T06:28:31Z"},{"alias_kind":"pith_short_8","alias_value":"4WY25EZ6","created_at":"2026-07-05T06:28:31Z"}],"graph_snapshots":[{"event_id":"sha256:7213b4f70b9c7dfbffcc3fc97065f0bf56d71c6b8aa740f857ad55ddba5ccccb","target":"graph","created_at":"2026-07-05T06:28:31Z","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/2209.04346/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational constraint and complexity often limit the use of Model Predictive Control (MPC). As a consequence, geometric controllers are the most frequently deployed controllers. They prove to be performant while yielding implementation and operational simplicity. Yet, they inherently lack the incorporation of model dynamics, thus limiting the race car to a velocity domai","authors_text":"Edoardo Ghignone, Jonathan Becker, Luca Schwarzenbach, Michele Magno, Nadine Imholz, Nicolas Baumann","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T15:17:09Z","title":"Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.04346","kind":"arxiv","version":4},"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:d28dd0b08777b84258f1e821734ac7e5cee64cb4308a05ac8ce1af8e23cd30be","target":"record","created_at":"2026-07-05T06:28:31Z","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":"70c711c4767b973d2e3e5b2d0695e5c5b1813f6a7b01c1057e14acb79abfec4d","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-09T15:17:09Z","title_canon_sha256":"f6b99d0603c11bdd63de9f8543cbb78719972b03cb14f98a4706b412bec0b163"},"schema_version":"1.0","source":{"id":"2209.04346","kind":"arxiv","version":4}},"canonical_sha256":"e5b1ae933e756d8e0b618fcb9f7cf90c475027638cadb09204bdca2fc584e8a6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e5b1ae933e756d8e0b618fcb9f7cf90c475027638cadb09204bdca2fc584e8a6","first_computed_at":"2026-07-05T06:28:31.894198Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:28:31.894198Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/hdS4Jgt+HaZwQ92Ap+r5jiTyhPO22Hrfb7IrOfubKWJdJu/6m04ZBpOcAk3JhvXR2tl3N8HFVNgJmGxaJ8UDg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:28:31.894699Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.04346","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d28dd0b08777b84258f1e821734ac7e5cee64cb4308a05ac8ce1af8e23cd30be","sha256:7213b4f70b9c7dfbffcc3fc97065f0bf56d71c6b8aa740f857ad55ddba5ccccb"],"state_sha256":"d88408f8f2e75337596b69f16d408507a9fcaeeee7649e6bdb7f5aca3cab970a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zvwqESZ2kAdGeANr+73Tk4sOypGVtziwGyKi1N6JMJe5XPWHbDjNcmuEitwjmS/bmIQlh93qrUuh/AU34AQCAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T13:06:44.807443Z","bundle_sha256":"2a52c251c6579e3a0895787b80f699c6065b41cbf98422b4c8779452090d86e6"}}