{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:DTI2FHDCY62LIXPVEO5MZ74UM3","short_pith_number":"pith:DTI2FHDC","canonical_record":{"source":{"id":"1908.10175","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-27T13:06:50Z","cross_cats_sorted":[],"title_canon_sha256":"9e259a2acce4fee8523a47b3bf8c9f64cb233990e47989472667a3991049ba56","abstract_canon_sha256":"1d8f46204175923c6eb17d880d701afce38f5a2ffd5f4228a38cfa33ad8445a0"},"schema_version":"1.0"},"canonical_sha256":"1cd1a29c62c7b4b45df523baccff9466de7055c6f05851a2a0fe1101fa875aca","source":{"kind":"arxiv","id":"1908.10175","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.10175","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"arxiv_version","alias_value":"1908.10175v2","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.10175","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_12","alias_value":"DTI2FHDCY62L","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_16","alias_value":"DTI2FHDCY62LIXPV","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_8","alias_value":"DTI2FHDC","created_at":"2026-07-05T00:01:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:DTI2FHDCY62LIXPVEO5MZ74UM3","target":"record","payload":{"canonical_record":{"source":{"id":"1908.10175","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-27T13:06:50Z","cross_cats_sorted":[],"title_canon_sha256":"9e259a2acce4fee8523a47b3bf8c9f64cb233990e47989472667a3991049ba56","abstract_canon_sha256":"1d8f46204175923c6eb17d880d701afce38f5a2ffd5f4228a38cfa33ad8445a0"},"schema_version":"1.0"},"canonical_sha256":"1cd1a29c62c7b4b45df523baccff9466de7055c6f05851a2a0fe1101fa875aca","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:01:04.036896Z","signature_b64":"p4AXssMRNdPT6fbnk/S0bC7OfzaF2hjjjXviOGnGaPN2oVFD3roTy0XqqcVfhb5zlQZK+pNccffMjwazDdbkDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1cd1a29c62c7b4b45df523baccff9466de7055c6f05851a2a0fe1101fa875aca","last_reissued_at":"2026-07-05T00:01:04.036494Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:01:04.036494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1908.10175","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":"2026-07-05T00:01:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TWFJpoc8xTSQi4YMHoXT6fRG8p6FM38sqhoSDPU6sftn0/nv4Q8oq6wyjN+VWafH0SGJ7QxP1nvMNgftcBPSDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:28:37.235290Z"},"content_sha256":"3bb4cf2e8803ce2b1c1ec87ee189f6985adf0bf83641f1f727c710e6153bcbe2","schema_version":"1.0","event_id":"sha256:3bb4cf2e8803ce2b1c1ec87ee189f6985adf0bf83641f1f727c710e6153bcbe2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:DTI2FHDCY62LIXPVEO5MZ74UM3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandros Nikou, Dimos V. Dimarogonas, Shahab Heshmati-Alamdari","submitted_at":"2019-08-27T13:06:50Z","abstract_excerpt":"Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for the underwater robotics community. In that sense, this paper addresses the tracking control problem or 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. In particular, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwate"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.10175","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/1908.10175/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":"2026-07-05T00:01:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sEG/F+Zj1LtxQkW2r686YRlHAG+DoseHnJAWdMCDt3c9Kx5uT2mCZGFjfCWf7tkGc1c1mc5z772nLUpRBlBlCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:28:37.235684Z"},"content_sha256":"466a60c9cc57889b50bb16e6f9a430681e415d58f854f03b6040990f74ca781a","schema_version":"1.0","event_id":"sha256:466a60c9cc57889b50bb16e6f9a430681e415d58f854f03b6040990f74ca781a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/bundle.json","state_url":"https://pith.science/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/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":"2026-07-06T23:28:37Z","links":{"resolver":"https://pith.science/pith/DTI2FHDCY62LIXPVEO5MZ74UM3","bundle":"https://pith.science/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/bundle.json","state":"https://pith.science/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DTI2FHDCY62LIXPVEO5MZ74UM3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:DTI2FHDCY62LIXPVEO5MZ74UM3","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":"1d8f46204175923c6eb17d880d701afce38f5a2ffd5f4228a38cfa33ad8445a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-27T13:06:50Z","title_canon_sha256":"9e259a2acce4fee8523a47b3bf8c9f64cb233990e47989472667a3991049ba56"},"schema_version":"1.0","source":{"id":"1908.10175","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.10175","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"arxiv_version","alias_value":"1908.10175v2","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.10175","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_12","alias_value":"DTI2FHDCY62L","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_16","alias_value":"DTI2FHDCY62LIXPV","created_at":"2026-07-05T00:01:04Z"},{"alias_kind":"pith_short_8","alias_value":"DTI2FHDC","created_at":"2026-07-05T00:01:04Z"}],"graph_snapshots":[{"event_id":"sha256:466a60c9cc57889b50bb16e6f9a430681e415d58f854f03b6040990f74ca781a","target":"graph","created_at":"2026-07-05T00:01:04Z","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/1908.10175/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for the underwater robotics community. In that sense, this paper addresses the tracking control problem or 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. In particular, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwate","authors_text":"Alexandros Nikou, Dimos V. Dimarogonas, Shahab Heshmati-Alamdari","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-27T13:06:50Z","title":"Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.10175","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":"sha256:3bb4cf2e8803ce2b1c1ec87ee189f6985adf0bf83641f1f727c710e6153bcbe2","target":"record","created_at":"2026-07-05T00:01:04Z","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":"1d8f46204175923c6eb17d880d701afce38f5a2ffd5f4228a38cfa33ad8445a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-27T13:06:50Z","title_canon_sha256":"9e259a2acce4fee8523a47b3bf8c9f64cb233990e47989472667a3991049ba56"},"schema_version":"1.0","source":{"id":"1908.10175","kind":"arxiv","version":2}},"canonical_sha256":"1cd1a29c62c7b4b45df523baccff9466de7055c6f05851a2a0fe1101fa875aca","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1cd1a29c62c7b4b45df523baccff9466de7055c6f05851a2a0fe1101fa875aca","first_computed_at":"2026-07-05T00:01:04.036494Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:01:04.036494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"p4AXssMRNdPT6fbnk/S0bC7OfzaF2hjjjXviOGnGaPN2oVFD3roTy0XqqcVfhb5zlQZK+pNccffMjwazDdbkDA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:01:04.036896Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.10175","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3bb4cf2e8803ce2b1c1ec87ee189f6985adf0bf83641f1f727c710e6153bcbe2","sha256:466a60c9cc57889b50bb16e6f9a430681e415d58f854f03b6040990f74ca781a"],"state_sha256":"1a919d339b9862ad80ee6324402540da0d1e8734a3e093028a3facc7b54aa59e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JS5SSi2AqrAgqI+/StUe8kNI6vI9psDFAVsBQp94CDndpvuHIhUi5loHVxX1Gzpl5yyGk58NCVHPMGGWnzH4DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:28:37.237855Z","bundle_sha256":"2293e410a68c9320d483f8b76f5892ec3a1328110cef8c3b74361be79a42ffe9"}}