{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:5H473ZPYPKLOVSD4S3CJONGIGC","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":"cd33da647cc2cae39e802981e5a5610dedfb6cbebb076cc78f6b536180273153","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-02-22T08:19:58Z","title_canon_sha256":"cb5881c979d38c910ed813fd646408663f8bd76b33835bf0a33bb8f4880b7149"},"schema_version":"1.0","source":{"id":"1602.06675","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1602.06675","created_at":"2026-05-18T01:20:13Z"},{"alias_kind":"arxiv_version","alias_value":"1602.06675v1","created_at":"2026-05-18T01:20:13Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1602.06675","created_at":"2026-05-18T01:20:13Z"},{"alias_kind":"pith_short_12","alias_value":"5H473ZPYPKLO","created_at":"2026-05-18T12:30:01Z"},{"alias_kind":"pith_short_16","alias_value":"5H473ZPYPKLOVSD4","created_at":"2026-05-18T12:30:01Z"},{"alias_kind":"pith_short_8","alias_value":"5H473ZPY","created_at":"2026-05-18T12:30:01Z"}],"graph_snapshots":[{"event_id":"sha256:47b486806a75f0d71cea1372e6468e9c07726c19f1a7129ebe781bd389d2d4b4","target":"graph","created_at":"2026-05-18T01:20:13Z","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"},"paper":{"abstract_excerpt":"In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal angles while a pure pursuit path tracking controller is used on a higher level to handle the path tracking. Piecewise linearity is the only requirement on the control reference which makes the design of reference paths very general. A Graphical User Interface is designed to make it easy for a user to design control references for complex manoeuvres given some r","authors_text":"Daniel Axehill, Niclas Evestedt, Oskar Ljungqvist","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-02-22T08:19:58Z","title":"Path tracking and stabilization for a reversing general 2-trailer configuration using a cascaded control approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1602.06675","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:a3ac987cd44fc0c5ef3b6cb181a648ae9f875625246965ffe2fb8d17caa7dceb","target":"record","created_at":"2026-05-18T01:20:13Z","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":"cd33da647cc2cae39e802981e5a5610dedfb6cbebb076cc78f6b536180273153","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-02-22T08:19:58Z","title_canon_sha256":"cb5881c979d38c910ed813fd646408663f8bd76b33835bf0a33bb8f4880b7149"},"schema_version":"1.0","source":{"id":"1602.06675","kind":"arxiv","version":1}},"canonical_sha256":"e9f9fde5f87a96eac87c96c49734c830bb7146d43a3b28a6e646e3574fabb6ea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e9f9fde5f87a96eac87c96c49734c830bb7146d43a3b28a6e646e3574fabb6ea","first_computed_at":"2026-05-18T01:20:13.389181Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:20:13.389181Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vpE0/ZA4SqcmDbNpl7SvVDtcAVC6tMrd/KXGoto0GJSd1LLGXMY4b+vmGTTCeNE3ZnlVY5+47p4KT+lPd6ASBA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:20:13.389741Z","signed_message":"canonical_sha256_bytes"},"source_id":"1602.06675","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a3ac987cd44fc0c5ef3b6cb181a648ae9f875625246965ffe2fb8d17caa7dceb","sha256:47b486806a75f0d71cea1372e6468e9c07726c19f1a7129ebe781bd389d2d4b4"],"state_sha256":"e59bfeaf6654c6ef921d9a76d2df1cb00c060715f6592b61d0276ae68458aec4"}