{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:BRQB5KEQYNQP6YPVUPQEX6KHEL","short_pith_number":"pith:BRQB5KEQ","canonical_record":{"source":{"id":"1211.4038","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-11-16T21:14:57Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"24d55c7da5314d557497d753bcbab276182b0f3842d390638d13ee4de4094b54","abstract_canon_sha256":"56ebbdf736ea6e9c81629b340889296bd55ef3823394cd0d009ed8ea4ccef37c"},"schema_version":"1.0"},"canonical_sha256":"0c601ea890c360ff61f5a3e04bf94722dd8e63b49b61188df9a188ae184a7335","source":{"kind":"arxiv","id":"1211.4038","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1211.4038","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"arxiv_version","alias_value":"1211.4038v1","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1211.4038","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"pith_short_12","alias_value":"BRQB5KEQYNQP","created_at":"2026-05-18T12:27:01Z"},{"alias_kind":"pith_short_16","alias_value":"BRQB5KEQYNQP6YPV","created_at":"2026-05-18T12:27:01Z"},{"alias_kind":"pith_short_8","alias_value":"BRQB5KEQ","created_at":"2026-05-18T12:27:01Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:BRQB5KEQYNQP6YPVUPQEX6KHEL","target":"record","payload":{"canonical_record":{"source":{"id":"1211.4038","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-11-16T21:14:57Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"24d55c7da5314d557497d753bcbab276182b0f3842d390638d13ee4de4094b54","abstract_canon_sha256":"56ebbdf736ea6e9c81629b340889296bd55ef3823394cd0d009ed8ea4ccef37c"},"schema_version":"1.0"},"canonical_sha256":"0c601ea890c360ff61f5a3e04bf94722dd8e63b49b61188df9a188ae184a7335","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:40:28.200671Z","signature_b64":"wILuVs034k7mMoKH1159uflS0AaO5QQ1wWT61IpUZtiJXicLTnQN5osp2oHVUZsupxu90CG/iLsbDTXfQbGTDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0c601ea890c360ff61f5a3e04bf94722dd8e63b49b61188df9a188ae184a7335","last_reissued_at":"2026-05-18T03:40:28.200019Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:40:28.200019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1211.4038","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":"2026-05-18T03:40:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QcFAC4uLWb7MAC5FI9ckjsXTn0So+1ZZKGQZ8x2lfOPtEDbQRlfj24QhnsvQFtZTnbq6jzzJd/AYQ032kILPCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T06:24:51.550247Z"},"content_sha256":"0ec9269d26e5c8ccfbc206945cdb7c1310f0d7fe1ff75be3c2f8abf7ebff394a","schema_version":"1.0","event_id":"sha256:0ec9269d26e5c8ccfbc206945cdb7c1310f0d7fe1ff75be3c2f8abf7ebff394a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:BRQB5KEQYNQP6YPVUPQEX6KHEL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Stochastic receding horizon control of nonlinear stochastic systems with probabilistic state constraints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"Chetan D. Pahlajani, Herbert G. Tanner, Shridhar K. Shah","submitted_at":"2012-11-16T21:14:57Z","abstract_excerpt":"The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on currently available mobile processors. The approach consists of decomposing the problem into designing receding horizon reference paths based on the drift component of the system dynamics, and then implementing a stochastic optimal controller to allow the system to stay close and follow the reference path. In some cases, the stochastic optimal controller can be obt"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1211.4038","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":""},"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":"2026-05-18T03:40:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5CULyDAIMHMlqfMPYgcV8thCMsQu15SErboKmWskTizvhYLqFBMYqqVPSGrtLdw0LK0Mmg8kIBTyKbxAQ6NRAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T06:24:51.550818Z"},"content_sha256":"2411ad3ee98c51d315a9102f663192b301d17112bd73857ef246d90947575938","schema_version":"1.0","event_id":"sha256:2411ad3ee98c51d315a9102f663192b301d17112bd73857ef246d90947575938"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/bundle.json","state_url":"https://pith.science/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/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":"2026-06-04T06:24:51Z","links":{"resolver":"https://pith.science/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL","bundle":"https://pith.science/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/bundle.json","state":"https://pith.science/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BRQB5KEQYNQP6YPVUPQEX6KHEL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:BRQB5KEQYNQP6YPVUPQEX6KHEL","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":"56ebbdf736ea6e9c81629b340889296bd55ef3823394cd0d009ed8ea4ccef37c","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-11-16T21:14:57Z","title_canon_sha256":"24d55c7da5314d557497d753bcbab276182b0f3842d390638d13ee4de4094b54"},"schema_version":"1.0","source":{"id":"1211.4038","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1211.4038","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"arxiv_version","alias_value":"1211.4038v1","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1211.4038","created_at":"2026-05-18T03:40:28Z"},{"alias_kind":"pith_short_12","alias_value":"BRQB5KEQYNQP","created_at":"2026-05-18T12:27:01Z"},{"alias_kind":"pith_short_16","alias_value":"BRQB5KEQYNQP6YPV","created_at":"2026-05-18T12:27:01Z"},{"alias_kind":"pith_short_8","alias_value":"BRQB5KEQ","created_at":"2026-05-18T12:27:01Z"}],"graph_snapshots":[{"event_id":"sha256:2411ad3ee98c51d315a9102f663192b301d17112bd73857ef246d90947575938","target":"graph","created_at":"2026-05-18T03:40:28Z","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":"The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on currently available mobile processors. The approach consists of decomposing the problem into designing receding horizon reference paths based on the drift component of the system dynamics, and then implementing a stochastic optimal controller to allow the system to stay close and follow the reference path. In some cases, the stochastic optimal controller can be obt","authors_text":"Chetan D. Pahlajani, Herbert G. Tanner, Shridhar K. Shah","cross_cats":["cs.RO","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-11-16T21:14:57Z","title":"Stochastic receding horizon control of nonlinear stochastic systems with probabilistic state constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1211.4038","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":"sha256:0ec9269d26e5c8ccfbc206945cdb7c1310f0d7fe1ff75be3c2f8abf7ebff394a","target":"record","created_at":"2026-05-18T03:40:28Z","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":"56ebbdf736ea6e9c81629b340889296bd55ef3823394cd0d009ed8ea4ccef37c","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2012-11-16T21:14:57Z","title_canon_sha256":"24d55c7da5314d557497d753bcbab276182b0f3842d390638d13ee4de4094b54"},"schema_version":"1.0","source":{"id":"1211.4038","kind":"arxiv","version":1}},"canonical_sha256":"0c601ea890c360ff61f5a3e04bf94722dd8e63b49b61188df9a188ae184a7335","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0c601ea890c360ff61f5a3e04bf94722dd8e63b49b61188df9a188ae184a7335","first_computed_at":"2026-05-18T03:40:28.200019Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:40:28.200019Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wILuVs034k7mMoKH1159uflS0AaO5QQ1wWT61IpUZtiJXicLTnQN5osp2oHVUZsupxu90CG/iLsbDTXfQbGTDw==","signature_status":"signed_v1","signed_at":"2026-05-18T03:40:28.200671Z","signed_message":"canonical_sha256_bytes"},"source_id":"1211.4038","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0ec9269d26e5c8ccfbc206945cdb7c1310f0d7fe1ff75be3c2f8abf7ebff394a","sha256:2411ad3ee98c51d315a9102f663192b301d17112bd73857ef246d90947575938"],"state_sha256":"3d8ecbe5881cb3895ac4aecc7dd3ae5776efd0f522d2c384e61194325882ea3c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WAs5PR+fWyYJQX34Q0+hEsoBzOASg3YEa9v1bLAv6C3VazzLbfY3i/3rBmIR4m08qTcD1kmft4sdL5Q3uSC8Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T06:24:51.553429Z","bundle_sha256":"93f5e6574af8460d1019977b30bc540db8352b2bfd282e8b54d94d92adf3d7b3"}}