{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:DHS7FHXXNEYDNSHT4QUQ4KBUJQ","short_pith_number":"pith:DHS7FHXX","canonical_record":{"source":{"id":"2505.11376","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-05-16T15:41:01Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"608d2afe882e837e7fa3cc41edd2fc7ac2e1e8a7ef3cf5cd926de6fcc209fd90","abstract_canon_sha256":"16ab12c66ea93fc38345753a35e8d1bd02c4c0ea59237f548d02c42a6929f105"},"schema_version":"1.0"},"canonical_sha256":"19e5f29ef7693036c8f3e4290e28344c2942e552e5559334b7010075690a4ac4","source":{"kind":"arxiv","id":"2505.11376","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.11376","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"arxiv_version","alias_value":"2505.11376v1","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.11376","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_12","alias_value":"DHS7FHXXNEYD","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_16","alias_value":"DHS7FHXXNEYDNSHT","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_8","alias_value":"DHS7FHXX","created_at":"2026-07-05T11:04:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:DHS7FHXXNEYDNSHT4QUQ4KBUJQ","target":"record","payload":{"canonical_record":{"source":{"id":"2505.11376","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-05-16T15:41:01Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"608d2afe882e837e7fa3cc41edd2fc7ac2e1e8a7ef3cf5cd926de6fcc209fd90","abstract_canon_sha256":"16ab12c66ea93fc38345753a35e8d1bd02c4c0ea59237f548d02c42a6929f105"},"schema_version":"1.0"},"canonical_sha256":"19e5f29ef7693036c8f3e4290e28344c2942e552e5559334b7010075690a4ac4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:04:15.113945Z","signature_b64":"ubpTr8NYk/KTs1YWS/LwH/+IgsLZBQcwPBztkJsfm+mwheZp4zbimg9f2hCufPLI/5FrrAsVFqtDH7or7rirCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"19e5f29ef7693036c8f3e4290e28344c2942e552e5559334b7010075690a4ac4","last_reissued_at":"2026-07-05T11:04:15.113376Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:04:15.113376Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.11376","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":"2026-07-05T11:04:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"u6cM/VKGiQ7niIlj7gDd8ftoHEV1j8fg/T6pEP5zNXPUn42/E3XeqcFhg9UGjJegAz10MT4Fxc0Hw2P5k7R+Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T03:02:05.589647Z"},"content_sha256":"31cbdc0dea7a0873da55cb90295240317e858e4f9f2783643218b68914e92ec8","schema_version":"1.0","event_id":"sha256:31cbdc0dea7a0873da55cb90295240317e858e4f9f2783643218b68914e92ec8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:DHS7FHXXNEYDNSHT4QUQ4KBUJQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"math.OC","authors_text":"Dries Dirckx, Jan Swevers, Wilm Decr\\'e","submitted_at":"2025-05-16T15:41:01Z","abstract_excerpt":"This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision avoidance constraints for convex objects into an optimal control problem (OCP) using the separating hyperplane theorem. By framing this theorem as a classification problem, the hyperplanes are eliminated as optimisation variables from the OCP. This effectively transforms non-convex constraints into linear constraints. A bi-level algorithm computes the hyperplanes between the iterations of an optimisation solver and s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.11376","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/2505.11376/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":"2026-07-05T11:04:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q3CXc2tlLT/+ex+FpTYshr6ZCMOIkU+GyrFpk9MJUDgenhknYi7C4x6QtyGsItW1GOGRwo82qnbLvCGgwhtiCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T03:02:05.590166Z"},"content_sha256":"937b7cce9b80296f716879137fd01fd0f0901625963c76cf8062d9497314936f","schema_version":"1.0","event_id":"sha256:937b7cce9b80296f716879137fd01fd0f0901625963c76cf8062d9497314936f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/bundle.json","state_url":"https://pith.science/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/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":"2026-08-16T03:02:05Z","links":{"resolver":"https://pith.science/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ","bundle":"https://pith.science/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/bundle.json","state":"https://pith.science/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DHS7FHXXNEYDNSHT4QUQ4KBUJQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:DHS7FHXXNEYDNSHT4QUQ4KBUJQ","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":"16ab12c66ea93fc38345753a35e8d1bd02c4c0ea59237f548d02c42a6929f105","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-05-16T15:41:01Z","title_canon_sha256":"608d2afe882e837e7fa3cc41edd2fc7ac2e1e8a7ef3cf5cd926de6fcc209fd90"},"schema_version":"1.0","source":{"id":"2505.11376","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.11376","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"arxiv_version","alias_value":"2505.11376v1","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.11376","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_12","alias_value":"DHS7FHXXNEYD","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_16","alias_value":"DHS7FHXXNEYDNSHT","created_at":"2026-07-05T11:04:15Z"},{"alias_kind":"pith_short_8","alias_value":"DHS7FHXX","created_at":"2026-07-05T11:04:15Z"}],"graph_snapshots":[{"event_id":"sha256:937b7cce9b80296f716879137fd01fd0f0901625963c76cf8062d9497314936f","target":"graph","created_at":"2026-07-05T11:04:15Z","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/2505.11376/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision avoidance constraints for convex objects into an optimal control problem (OCP) using the separating hyperplane theorem. By framing this theorem as a classification problem, the hyperplanes are eliminated as optimisation variables from the OCP. This effectively transforms non-convex constraints into linear constraints. A bi-level algorithm computes the hyperplanes between the iterations of an optimisation solver and s","authors_text":"Dries Dirckx, Jan Swevers, Wilm Decr\\'e","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-05-16T15:41:01Z","title":"Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.11376","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":"sha256:31cbdc0dea7a0873da55cb90295240317e858e4f9f2783643218b68914e92ec8","target":"record","created_at":"2026-07-05T11:04:15Z","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":"16ab12c66ea93fc38345753a35e8d1bd02c4c0ea59237f548d02c42a6929f105","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"math.OC","submitted_at":"2025-05-16T15:41:01Z","title_canon_sha256":"608d2afe882e837e7fa3cc41edd2fc7ac2e1e8a7ef3cf5cd926de6fcc209fd90"},"schema_version":"1.0","source":{"id":"2505.11376","kind":"arxiv","version":1}},"canonical_sha256":"19e5f29ef7693036c8f3e4290e28344c2942e552e5559334b7010075690a4ac4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"19e5f29ef7693036c8f3e4290e28344c2942e552e5559334b7010075690a4ac4","first_computed_at":"2026-07-05T11:04:15.113376Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:04:15.113376Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ubpTr8NYk/KTs1YWS/LwH/+IgsLZBQcwPBztkJsfm+mwheZp4zbimg9f2hCufPLI/5FrrAsVFqtDH7or7rirCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:04:15.113945Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.11376","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:31cbdc0dea7a0873da55cb90295240317e858e4f9f2783643218b68914e92ec8","sha256:937b7cce9b80296f716879137fd01fd0f0901625963c76cf8062d9497314936f"],"state_sha256":"ba70e2b96683e3167e2d5e8b00747b72f425e3cdeff80f5718306e83b1952426"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cfYRsne5tkCXbrAUvu/f6xFPo8TmUYtuWWi+CgeIpo76WwrXUKnz8rKxK26BD/R1lpfwzWzfO0OrdCzlMgNOCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T03:02:05.593632Z","bundle_sha256":"0e98da33dfc7548dd2839730eab8eb0608c6a6bc2a5cc25c667827fee74b119a"}}