{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:5YQ3LGPMPB5ZCQLSL7K5HGKILP","short_pith_number":"pith:5YQ3LGPM","canonical_record":{"source":{"id":"2505.09434","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-14T14:42:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"07dc3c664570e1c29df4a2c6fcbed6d5a24c7555b75cc175ebdbd82d863ddf46","abstract_canon_sha256":"657a79373d5e9bcdf17cf522343701b8fce2dfbfb4992b1ea0df36e61a103b67"},"schema_version":"1.0"},"canonical_sha256":"ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361","source":{"kind":"arxiv","id":"2505.09434","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.09434","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"arxiv_version","alias_value":"2505.09434v2","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.09434","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_12","alias_value":"5YQ3LGPMPB5Z","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_16","alias_value":"5YQ3LGPMPB5ZCQLS","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_8","alias_value":"5YQ3LGPM","created_at":"2026-07-05T11:36:31Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:5YQ3LGPMPB5ZCQLSL7K5HGKILP","target":"record","payload":{"canonical_record":{"source":{"id":"2505.09434","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-14T14:42:07Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"07dc3c664570e1c29df4a2c6fcbed6d5a24c7555b75cc175ebdbd82d863ddf46","abstract_canon_sha256":"657a79373d5e9bcdf17cf522343701b8fce2dfbfb4992b1ea0df36e61a103b67"},"schema_version":"1.0"},"canonical_sha256":"ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:36:31.820423Z","signature_b64":"xYH4iy4BB4yi2UR1DJA0v6XMd+op9s75KxDGRnuFj7mbbnPmVg3ToFN4J5mkQBUaL2+eB/w8X+joim3emMruAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361","last_reissued_at":"2026-07-05T11:36:31.819918Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:36:31.819918Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.09434","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:36:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oIRyEiyuqzdppXHMzF7xy/Av4QL33SLh2+JlUfteuEgXHF8z866K5MetgIc/gS9w92+gfkUBbwc5V+uTbwbqDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T21:49:12.628877Z"},"content_sha256":"b5ab56bf134f8013998c6e85765d897114e89de17bbd9060083c77f1513d6d6f","schema_version":"1.0","event_id":"sha256:b5ab56bf134f8013998c6e85765d897114e89de17bbd9060083c77f1513d6d6f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:5YQ3LGPMPB5ZCQLSL7K5HGKILP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Kaoru Yamamoto, Nuthasith Gerdpratoom","submitted_at":"2025-05-14T14:42:07Z","abstract_excerpt":"This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle avoidance strategy. More specifically, we integrate the local obstacle avoidance constraint using point clouds into the NMPC framework. Here, each agent relies on data from its local sensor to perceive and respond to nearby obstacles. A point cloud processing technique is presented for both two-dimensional and three-dimensional point clouds to minimize the computat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.09434","kind":"arxiv","version":2},"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/2505.09434/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":"2026-07-05T11:36:31Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rW4QWoRNTbO+ApWgcwjUqJjKqlFFQnPKdI3+XMoiNoQXBD7rCs8+BzWwxB4i8IKKqdHXoTlEX+HWPKWR3EMFDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T21:49:12.629220Z"},"content_sha256":"0b5caada53a1bddbd132f14463126e1c25c9789b2157610b4461fee241c5d72a","schema_version":"1.0","event_id":"sha256:0b5caada53a1bddbd132f14463126e1c25c9789b2157610b4461fee241c5d72a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/bundle.json","state_url":"https://pith.science/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/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":"2026-08-22T21:49:12Z","links":{"resolver":"https://pith.science/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP","bundle":"https://pith.science/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/bundle.json","state":"https://pith.science/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5YQ3LGPMPB5ZCQLSL7K5HGKILP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:5YQ3LGPMPB5ZCQLSL7K5HGKILP","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":"657a79373d5e9bcdf17cf522343701b8fce2dfbfb4992b1ea0df36e61a103b67","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-14T14:42:07Z","title_canon_sha256":"07dc3c664570e1c29df4a2c6fcbed6d5a24c7555b75cc175ebdbd82d863ddf46"},"schema_version":"1.0","source":{"id":"2505.09434","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.09434","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"arxiv_version","alias_value":"2505.09434v2","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.09434","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_12","alias_value":"5YQ3LGPMPB5Z","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_16","alias_value":"5YQ3LGPMPB5ZCQLS","created_at":"2026-07-05T11:36:31Z"},{"alias_kind":"pith_short_8","alias_value":"5YQ3LGPM","created_at":"2026-07-05T11:36:31Z"}],"graph_snapshots":[{"event_id":"sha256:0b5caada53a1bddbd132f14463126e1c25c9789b2157610b4461fee241c5d72a","target":"graph","created_at":"2026-07-05T11:36:31Z","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/2505.09434/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle avoidance strategy. More specifically, we integrate the local obstacle avoidance constraint using point clouds into the NMPC framework. Here, each agent relies on data from its local sensor to perceive and respond to nearby obstacles. A point cloud processing technique is presented for both two-dimensional and three-dimensional point clouds to minimize the computat","authors_text":"Kaoru Yamamoto, Nuthasith Gerdpratoom","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-14T14:42:07Z","title":"Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.09434","kind":"arxiv","version":2},"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:b5ab56bf134f8013998c6e85765d897114e89de17bbd9060083c77f1513d6d6f","target":"record","created_at":"2026-07-05T11:36:31Z","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":"657a79373d5e9bcdf17cf522343701b8fce2dfbfb4992b1ea0df36e61a103b67","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-14T14:42:07Z","title_canon_sha256":"07dc3c664570e1c29df4a2c6fcbed6d5a24c7555b75cc175ebdbd82d863ddf46"},"schema_version":"1.0","source":{"id":"2505.09434","kind":"arxiv","version":2}},"canonical_sha256":"ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361","first_computed_at":"2026-07-05T11:36:31.819918Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:36:31.819918Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xYH4iy4BB4yi2UR1DJA0v6XMd+op9s75KxDGRnuFj7mbbnPmVg3ToFN4J5mkQBUaL2+eB/w8X+joim3emMruAA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:36:31.820423Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.09434","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b5ab56bf134f8013998c6e85765d897114e89de17bbd9060083c77f1513d6d6f","sha256:0b5caada53a1bddbd132f14463126e1c25c9789b2157610b4461fee241c5d72a"],"state_sha256":"c77cd2fe32b3626261fc3c9b04d9ddd5f1b33f4ce3cdd4f7345b8f7e85fc2c15"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xGDvmgN/BUORu5COigznqT+v8PYQeokj4i/5Tf6xRkkh+vHXcG05borUU8h9rGpmOaTouWGmumAZhYQSh3BmDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T21:49:12.632611Z","bundle_sha256":"7710a9793e1f0cddcf3a91bccc55cf3f519c48262027c1b25618baffe7046183"}}