{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:7FJ2ETCFZ2MMCM5BF72CJ7YXBG","short_pith_number":"pith:7FJ2ETCF","canonical_record":{"source":{"id":"2607.15117","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-16T15:26:28Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"930a3bd87c9f486f5b1baa2b6b01e55e732789fdd9cb9db9bebe8d44ba53c7c3","abstract_canon_sha256":"bdcb2d9c06f9d186675d2db4f361609ff8fadbf4c513a73a6c63e120c9b9d354"},"schema_version":"1.0"},"canonical_sha256":"f953a24c45ce98c133a12ff424ff17098e40f010b0a034e1b97b3e65c22e9979","source":{"kind":"arxiv","id":"2607.15117","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.15117","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"arxiv_version","alias_value":"2607.15117v1","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.15117","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_12","alias_value":"7FJ2ETCFZ2MM","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_16","alias_value":"7FJ2ETCFZ2MMCM5B","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_8","alias_value":"7FJ2ETCF","created_at":"2026-07-17T01:22:10Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:7FJ2ETCFZ2MMCM5BF72CJ7YXBG","target":"record","payload":{"canonical_record":{"source":{"id":"2607.15117","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-16T15:26:28Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"930a3bd87c9f486f5b1baa2b6b01e55e732789fdd9cb9db9bebe8d44ba53c7c3","abstract_canon_sha256":"bdcb2d9c06f9d186675d2db4f361609ff8fadbf4c513a73a6c63e120c9b9d354"},"schema_version":"1.0"},"canonical_sha256":"f953a24c45ce98c133a12ff424ff17098e40f010b0a034e1b97b3e65c22e9979","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-17T01:22:10.353401Z","signature_b64":"2QBxjflLkLhBlx8mIuYw3huGideBJNXNZGoE1p7pjCVEXhSN6FYFERETEO6M4YkmKCv61DBIsmSr3481ZFTWBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f953a24c45ce98c133a12ff424ff17098e40f010b0a034e1b97b3e65c22e9979","last_reissued_at":"2026-07-17T01:22:10.352561Z","signature_status":"signed_v1","first_computed_at":"2026-07-17T01:22:10.352561Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.15117","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":"2026-07-17T01:22:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5zfpzsrdx7aEFGV/c7EkdUfryenE2OLNyCRYFoj8zRYPBt6DXAioFtdzL0CTEt6i5mRYG1ZQSdpz7yydvIG2DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T19:33:11.890152Z"},"content_sha256":"54d3f75b487b49cb28998e2a859effe35574b3a73469025045fbbb945223acbf","schema_version":"1.0","event_id":"sha256:54d3f75b487b49cb28998e2a859effe35574b3a73469025045fbbb945223acbf"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:7FJ2ETCFZ2MMCM5BF72CJ7YXBG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Model Predictive Control Framework for Assisted Vehicle Drifting","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Antonio Gallina, Basilio Lenzo, Giovanni Righetti, Marco Cortese, Matteo Grandin, Mattia Bruschetta","submitted_at":"2026-07-16T15:26:28Z","abstract_excerpt":"Model Predictive Control (MPC) has been widely applied to autonomous vehicle drifting. Assisted drifting, that is where the driver remains in the loop, is still comparatively underexplored. Existing approaches often rely on restrictive assumptions, such as precomputed drift equilibria, full actuation authority, or prior path knowledge, which limit applicability to expert drivers. This paper proposes a nonlinear model predictive control (NMPC) framework for assisted drifting on a rear-wheel-drive vehicle. Through steer-by-wire and drive-by-wire interfaces, the controller decouples driver comman"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.15117","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/2607.15117/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":"2026-07-17T01:22:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BqgTX1c+kGJawS0aJ4j4AACH0+QmYshQlGMaWiYSvOGkngm/ym0P7kdCotWOpbzq3nyGwqCind/RX3KYdfzEBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T19:33:11.890557Z"},"content_sha256":"c3bc50cb0e7d9652db2013209e2e1a4f60f493aa7feea5857fe0942f45154ce0","schema_version":"1.0","event_id":"sha256:c3bc50cb0e7d9652db2013209e2e1a4f60f493aa7feea5857fe0942f45154ce0"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:7FJ2ETCFZ2MMCM5BF72CJ7YXBG","target":"integrity","payload":{"note":"DOI is split by whitespace or line breaks in the printed bibliography. Reconstructed DOI 10.1115/DSCC2009-2626 resolves to 'Equilibrium Analysis of Drifting Vehicles for Control Design'. A reader following the printed text alone cannot reach it.","snippet":"R. Y . Hindiyeh and J. C. Gerdes, “Equilibrium analysis of drifting vehicles for control design,” inASME 2009 Dynamic Systems and Control Conference, Volume 1, ser. DSCC2009. ASMEDC, Jan. 2009, pp. 181–188. [Online]. Available: http://dx.do","arxiv_id":"2607.15117","detector":"doi_compliance","evidence":{"ref_index":4,"verdict_class":"incontrovertible","resolved_title":"Equilibrium Analysis of Drifting Vehicles for Control Design","printed_excerpt":"10.1115/dscc2009-","reconstructed_doi":"10.1115/DSCC2009-2626"},"severity":"advisory","ref_index":4,"audited_at":"2026-08-02T00:20:09.649211Z","event_type":"pith.integrity.v1","detected_doi":"10.1115/DSCC2009-2626","detector_url":"https://pith.science/pith-integrity-protocol#doi_compliance","external_url":null,"finding_type":"recoverable_identifier","evidence_hash":"60fa678d0e37d152809830e452ae5fd9588cbb138dac4646b8a08b32f8a8684c","paper_version":1,"verdict_class":"incontrovertible","resolved_title":"Equilibrium Analysis of Drifting Vehicles for Control Design","detector_version":"1.1.0","detected_arxiv_id":null,"integrity_event_id":16894,"payload_sha256":"c55b53e14cfe2c3b5ad410c59fd70d11bef02e6c177595665c5c51f0bf869f96","signature_b64":"OjOBen9NOUcEfCt5608zyFtDRabzQRRl7UuDFj+WXU6Cy8EsBUTDI/OzAWTll6Yz1axpEwXyL0GFnVjVjaZWAA==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-08-02T00:23:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j/ewoWDotElIuB3aPRLaUFktGDMb3hKNlwwUwdhlTQsauwX4L9nTBAHVb1SapGG0h2rJR0AXa/qj30LGBnhbAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T19:33:11.893005Z"},"content_sha256":"267796d4e11f821e33ff1251b1436831e5a30782de1d6fdf5656b9d049ab4fa4","schema_version":"1.0","event_id":"sha256:267796d4e11f821e33ff1251b1436831e5a30782de1d6fdf5656b9d049ab4fa4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/bundle.json","state_url":"https://pith.science/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/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":"2026-08-06T19:33:11Z","links":{"resolver":"https://pith.science/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG","bundle":"https://pith.science/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/bundle.json","state":"https://pith.science/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7FJ2ETCFZ2MMCM5BF72CJ7YXBG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:7FJ2ETCFZ2MMCM5BF72CJ7YXBG","merge_version":"pith-open-graph-merge-v1","event_count":3,"valid_event_count":3,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"bdcb2d9c06f9d186675d2db4f361609ff8fadbf4c513a73a6c63e120c9b9d354","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-16T15:26:28Z","title_canon_sha256":"930a3bd87c9f486f5b1baa2b6b01e55e732789fdd9cb9db9bebe8d44ba53c7c3"},"schema_version":"1.0","source":{"id":"2607.15117","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.15117","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"arxiv_version","alias_value":"2607.15117v1","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.15117","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_12","alias_value":"7FJ2ETCFZ2MM","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_16","alias_value":"7FJ2ETCFZ2MMCM5B","created_at":"2026-07-17T01:22:10Z"},{"alias_kind":"pith_short_8","alias_value":"7FJ2ETCF","created_at":"2026-07-17T01:22:10Z"}],"graph_snapshots":[{"event_id":"sha256:c3bc50cb0e7d9652db2013209e2e1a4f60f493aa7feea5857fe0942f45154ce0","target":"graph","created_at":"2026-07-17T01:22:10Z","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/2607.15117/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Model Predictive Control (MPC) has been widely applied to autonomous vehicle drifting. Assisted drifting, that is where the driver remains in the loop, is still comparatively underexplored. Existing approaches often rely on restrictive assumptions, such as precomputed drift equilibria, full actuation authority, or prior path knowledge, which limit applicability to expert drivers. This paper proposes a nonlinear model predictive control (NMPC) framework for assisted drifting on a rear-wheel-drive vehicle. Through steer-by-wire and drive-by-wire interfaces, the controller decouples driver comman","authors_text":"Antonio Gallina, Basilio Lenzo, Giovanni Righetti, Marco Cortese, Matteo Grandin, Mattia Bruschetta","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-16T15:26:28Z","title":"A Model Predictive Control Framework for Assisted Vehicle Drifting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.15117","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":"sha256:54d3f75b487b49cb28998e2a859effe35574b3a73469025045fbbb945223acbf","target":"record","created_at":"2026-07-17T01:22:10Z","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":"bdcb2d9c06f9d186675d2db4f361609ff8fadbf4c513a73a6c63e120c9b9d354","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2026-07-16T15:26:28Z","title_canon_sha256":"930a3bd87c9f486f5b1baa2b6b01e55e732789fdd9cb9db9bebe8d44ba53c7c3"},"schema_version":"1.0","source":{"id":"2607.15117","kind":"arxiv","version":1}},"canonical_sha256":"f953a24c45ce98c133a12ff424ff17098e40f010b0a034e1b97b3e65c22e9979","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f953a24c45ce98c133a12ff424ff17098e40f010b0a034e1b97b3e65c22e9979","first_computed_at":"2026-07-17T01:22:10.352561Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-17T01:22:10.352561Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2QBxjflLkLhBlx8mIuYw3huGideBJNXNZGoE1p7pjCVEXhSN6FYFERETEO6M4YkmKCv61DBIsmSr3481ZFTWBA==","signature_status":"signed_v1","signed_at":"2026-07-17T01:22:10.353401Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.15117","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:54d3f75b487b49cb28998e2a859effe35574b3a73469025045fbbb945223acbf","sha256:c3bc50cb0e7d9652db2013209e2e1a4f60f493aa7feea5857fe0942f45154ce0","sha256:267796d4e11f821e33ff1251b1436831e5a30782de1d6fdf5656b9d049ab4fa4"],"state_sha256":"e03ad46c37a1791ca168d599f0aa845f1b49f6421c58dba9cd5f4161f3f0fddd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SmUH/JIm0a43C6Slu5gJ+O4+KRgatX9/VEm/VwkD8tuU9eT8XjIfmQxoUs1hK2BTd0sIjTKQIBcMG7feHC+ZDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T19:33:11.894456Z","bundle_sha256":"a7af176ca12c74028d43fa1f218446b746b5a2f90632a158a5ad5d5e810e69d5"}}