{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:6QNHTA77RAS5UCGG6NJXLFDOL6","short_pith_number":"pith:6QNHTA77","canonical_record":{"source":{"id":"2211.06287","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-11T15:51:46Z","cross_cats_sorted":[],"title_canon_sha256":"f6fcdcb2906b31ad1b30e46b3ffd737e53332fe7c93c78108eb2428392246fbb","abstract_canon_sha256":"993687ef9e2ee451548442d72d875d7287961d8621cc027eb78fc1621516e1c7"},"schema_version":"1.0"},"canonical_sha256":"f41a7983ff8825da08c6f35375946e5fb509df239bbedcca85ded2d2f6d3b1e4","source":{"kind":"arxiv","id":"2211.06287","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.06287","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"arxiv_version","alias_value":"2211.06287v2","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.06287","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_12","alias_value":"6QNHTA77RAS5","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_16","alias_value":"6QNHTA77RAS5UCGG","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_8","alias_value":"6QNHTA77","created_at":"2026-07-05T05:34:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:6QNHTA77RAS5UCGG6NJXLFDOL6","target":"record","payload":{"canonical_record":{"source":{"id":"2211.06287","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-11T15:51:46Z","cross_cats_sorted":[],"title_canon_sha256":"f6fcdcb2906b31ad1b30e46b3ffd737e53332fe7c93c78108eb2428392246fbb","abstract_canon_sha256":"993687ef9e2ee451548442d72d875d7287961d8621cc027eb78fc1621516e1c7"},"schema_version":"1.0"},"canonical_sha256":"f41a7983ff8825da08c6f35375946e5fb509df239bbedcca85ded2d2f6d3b1e4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:34:17.304011Z","signature_b64":"LEu8wBTaJ+MjH9tu+L5xbX1289aQvfOxgDPUUQk2yGhrPHQNqFZsA7eEwi/kHtkUSK9M4NWFC9LaLIZVgvKUCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f41a7983ff8825da08c6f35375946e5fb509df239bbedcca85ded2d2f6d3b1e4","last_reissued_at":"2026-07-05T05:34:17.303487Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:34:17.303487Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2211.06287","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":"2026-07-05T05:34:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"E0kveYYVAKWNHm5eEQmzTKXrH5MGwxToOThGVTbARA8EkgjCLggJ2g0GYuc5R88oJrWZXkfNXUwx7buC7anDBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:32:30.162992Z"},"content_sha256":"29bd16fe4380d31029fa81f28379b62ab7f921fbe4f368dab7ca9fa24662de64","schema_version":"1.0","event_id":"sha256:29bd16fe4380d31029fa81f28379b62ab7f921fbe4f368dab7ca9fa24662de64"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:6QNHTA77RAS5UCGG6NJXLFDOL6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bhaskar Vundurthy, Charles Noren, Damanpreet Singh, Matthew Travers, Namya Bagree","submitted_at":"2022-11-11T15:51:46Z","abstract_excerpt":"Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in that as speed increases, reducing the amount of space between robots also reduces the time available to the robots to respond to sudden motion variations in surrounding robots. However, in certain examples, the benefits in performance due to traveling at closer distances can outweigh the potential instability issues, for instance, autonomous trucks on highw"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.06287","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/2211.06287/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":"2026-07-05T05:34:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rE0wg7kn1zaEZPK3B6C9jEW53rZH5tT8RosyPDVvsGasgC1ecvEWnmFVxxnJRbjG0/NqfVY6q15Dvr76HEFJAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T11:32:30.163367Z"},"content_sha256":"9583ae39196b1cb01b866e20ccece83ab7cc16679d510e0d7c10e7d3b5570444","schema_version":"1.0","event_id":"sha256:9583ae39196b1cb01b866e20ccece83ab7cc16679d510e0d7c10e7d3b5570444"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/bundle.json","state_url":"https://pith.science/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/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":"2026-07-07T11:32:30Z","links":{"resolver":"https://pith.science/pith/6QNHTA77RAS5UCGG6NJXLFDOL6","bundle":"https://pith.science/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/bundle.json","state":"https://pith.science/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6QNHTA77RAS5UCGG6NJXLFDOL6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:6QNHTA77RAS5UCGG6NJXLFDOL6","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":"993687ef9e2ee451548442d72d875d7287961d8621cc027eb78fc1621516e1c7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-11T15:51:46Z","title_canon_sha256":"f6fcdcb2906b31ad1b30e46b3ffd737e53332fe7c93c78108eb2428392246fbb"},"schema_version":"1.0","source":{"id":"2211.06287","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2211.06287","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"arxiv_version","alias_value":"2211.06287v2","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.06287","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_12","alias_value":"6QNHTA77RAS5","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_16","alias_value":"6QNHTA77RAS5UCGG","created_at":"2026-07-05T05:34:17Z"},{"alias_kind":"pith_short_8","alias_value":"6QNHTA77","created_at":"2026-07-05T05:34:17Z"}],"graph_snapshots":[{"event_id":"sha256:9583ae39196b1cb01b866e20ccece83ab7cc16679d510e0d7c10e7d3b5570444","target":"graph","created_at":"2026-07-05T05:34:17Z","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/2211.06287/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in that as speed increases, reducing the amount of space between robots also reduces the time available to the robots to respond to sudden motion variations in surrounding robots. However, in certain examples, the benefits in performance due to traveling at closer distances can outweigh the potential instability issues, for instance, autonomous trucks on highw","authors_text":"Bhaskar Vundurthy, Charles Noren, Damanpreet Singh, Matthew Travers, Namya Bagree","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-11T15:51:46Z","title":"Distributed Optimal Control Framework for High-Speed Convoys: Theory and Hardware Results"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.06287","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":"sha256:29bd16fe4380d31029fa81f28379b62ab7f921fbe4f368dab7ca9fa24662de64","target":"record","created_at":"2026-07-05T05:34:17Z","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":"993687ef9e2ee451548442d72d875d7287961d8621cc027eb78fc1621516e1c7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-11-11T15:51:46Z","title_canon_sha256":"f6fcdcb2906b31ad1b30e46b3ffd737e53332fe7c93c78108eb2428392246fbb"},"schema_version":"1.0","source":{"id":"2211.06287","kind":"arxiv","version":2}},"canonical_sha256":"f41a7983ff8825da08c6f35375946e5fb509df239bbedcca85ded2d2f6d3b1e4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f41a7983ff8825da08c6f35375946e5fb509df239bbedcca85ded2d2f6d3b1e4","first_computed_at":"2026-07-05T05:34:17.303487Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:34:17.303487Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"LEu8wBTaJ+MjH9tu+L5xbX1289aQvfOxgDPUUQk2yGhrPHQNqFZsA7eEwi/kHtkUSK9M4NWFC9LaLIZVgvKUCA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:34:17.304011Z","signed_message":"canonical_sha256_bytes"},"source_id":"2211.06287","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:29bd16fe4380d31029fa81f28379b62ab7f921fbe4f368dab7ca9fa24662de64","sha256:9583ae39196b1cb01b866e20ccece83ab7cc16679d510e0d7c10e7d3b5570444"],"state_sha256":"3b7f823bfac3e2edc6014b050af49061af169069e502adb1631edf79de06f6d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fO03pZtmmlslh+TA4S4fY/LkGC4DG01WUJmkbRGdiRM86LSgw0wnjUBHdm7R0DWHFDLc1U/61J4WTYMgqmP1AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T11:32:30.165299Z","bundle_sha256":"2d3177bde7e17cb41d2b8ce88abaf3a11c172b05154ae99e1c6d70b06be41a73"}}