{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:E7OXBRPGPSU5NMV2SEP67SMNE5","short_pith_number":"pith:E7OXBRPG","canonical_record":{"source":{"id":"2506.06746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-06-07T10:30:10Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5bea6a7f0204ad4b8206c82d6179b5452aeb7ea86da45b8ebcce49cb088422a0","abstract_canon_sha256":"bad9a795a60e00cc38e4f50e7b470369aa88895b1d4775baaf755fbd49c90bae"},"schema_version":"1.0"},"canonical_sha256":"27dd70c5e67ca9d6b2ba911fefc98d275f038b16e5fd0398e8334bcf691ecd12","source":{"kind":"arxiv","id":"2506.06746","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.06746","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"arxiv_version","alias_value":"2506.06746v1","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.06746","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_12","alias_value":"E7OXBRPGPSU5","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_16","alias_value":"E7OXBRPGPSU5NMV2","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_8","alias_value":"E7OXBRPG","created_at":"2026-07-05T11:17:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:E7OXBRPGPSU5NMV2SEP67SMNE5","target":"record","payload":{"canonical_record":{"source":{"id":"2506.06746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-06-07T10:30:10Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"5bea6a7f0204ad4b8206c82d6179b5452aeb7ea86da45b8ebcce49cb088422a0","abstract_canon_sha256":"bad9a795a60e00cc38e4f50e7b470369aa88895b1d4775baaf755fbd49c90bae"},"schema_version":"1.0"},"canonical_sha256":"27dd70c5e67ca9d6b2ba911fefc98d275f038b16e5fd0398e8334bcf691ecd12","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:17:54.994913Z","signature_b64":"+9DLf5SSscO8CJsE/ScHyqtvxuAdfHHVXSIG3CmL2k/FyW0JyDAuxmqDfSc8LgVDCDh9cSeB0ZFupGJupGCLBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"27dd70c5e67ca9d6b2ba911fefc98d275f038b16e5fd0398e8334bcf691ecd12","last_reissued_at":"2026-07-05T11:17:54.994488Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:17:54.994488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.06746","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":"2026-07-05T11:17:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tpt7nFUZqEpJjdhCFvwc35iXYD6fV90sqTdL2TOR5hc6cfn6hXbWEtdocJIgs7DfopAMI5i9DrrrV8WJKAb0DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T09:32:58.284814Z"},"content_sha256":"a43da18cde5108ed9ca9c4ea9e87372b162624708447fac8cc005a5db5fad0a2","schema_version":"1.0","event_id":"sha256:a43da18cde5108ed9ca9c4ea9e87372b162624708447fac8cc005a5db5fad0a2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:E7OXBRPGPSU5NMV2SEP67SMNE5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Adaptive Event-triggered Formation Control of Autonomous Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Chenguang Zhao, Huan Yu, Yihuai Zhang, Ziming Wang","submitted_at":"2025-06-07T10:30:10Z","abstract_excerpt":"This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe and efficient navigation in complex traffic scenarios, such as narrow passages, collaborative obstacle avoidance, and adaptation to cut-in maneuvers. In contrast to conventional platoon control strategies that rely on predefined communication topologies and continuous state transmission, our approach employs a sampling-based observer to reconstruct vehicle dyn"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.06746","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/2506.06746/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":"2026-07-05T11:17:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9RL1ncei2vQNCgAlRkaptucgbPmCc3d32BqCD55ouvVVYc3fhR2JdQUV4iDK4Geb59qWQWTBsH17aKi2XfQwCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T09:32:58.285329Z"},"content_sha256":"0f7965ae9132e1781a9195ee1b0aec1bc5c11d581ef5fc1219e7d77781132888","schema_version":"1.0","event_id":"sha256:0f7965ae9132e1781a9195ee1b0aec1bc5c11d581ef5fc1219e7d77781132888"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/bundle.json","state_url":"https://pith.science/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/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":"2026-08-09T09:32:58Z","links":{"resolver":"https://pith.science/pith/E7OXBRPGPSU5NMV2SEP67SMNE5","bundle":"https://pith.science/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/bundle.json","state":"https://pith.science/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/E7OXBRPGPSU5NMV2SEP67SMNE5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:E7OXBRPGPSU5NMV2SEP67SMNE5","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":"bad9a795a60e00cc38e4f50e7b470369aa88895b1d4775baaf755fbd49c90bae","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-06-07T10:30:10Z","title_canon_sha256":"5bea6a7f0204ad4b8206c82d6179b5452aeb7ea86da45b8ebcce49cb088422a0"},"schema_version":"1.0","source":{"id":"2506.06746","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.06746","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"arxiv_version","alias_value":"2506.06746v1","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.06746","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_12","alias_value":"E7OXBRPGPSU5","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_16","alias_value":"E7OXBRPGPSU5NMV2","created_at":"2026-07-05T11:17:54Z"},{"alias_kind":"pith_short_8","alias_value":"E7OXBRPG","created_at":"2026-07-05T11:17:54Z"}],"graph_snapshots":[{"event_id":"sha256:0f7965ae9132e1781a9195ee1b0aec1bc5c11d581ef5fc1219e7d77781132888","target":"graph","created_at":"2026-07-05T11:17:54Z","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/2506.06746/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe and efficient navigation in complex traffic scenarios, such as narrow passages, collaborative obstacle avoidance, and adaptation to cut-in maneuvers. In contrast to conventional platoon control strategies that rely on predefined communication topologies and continuous state transmission, our approach employs a sampling-based observer to reconstruct vehicle dyn","authors_text":"Chenguang Zhao, Huan Yu, Yihuai Zhang, Ziming Wang","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-06-07T10:30:10Z","title":"Adaptive Event-triggered Formation Control of Autonomous Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.06746","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:a43da18cde5108ed9ca9c4ea9e87372b162624708447fac8cc005a5db5fad0a2","target":"record","created_at":"2026-07-05T11:17:54Z","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":"bad9a795a60e00cc38e4f50e7b470369aa88895b1d4775baaf755fbd49c90bae","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-06-07T10:30:10Z","title_canon_sha256":"5bea6a7f0204ad4b8206c82d6179b5452aeb7ea86da45b8ebcce49cb088422a0"},"schema_version":"1.0","source":{"id":"2506.06746","kind":"arxiv","version":1}},"canonical_sha256":"27dd70c5e67ca9d6b2ba911fefc98d275f038b16e5fd0398e8334bcf691ecd12","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"27dd70c5e67ca9d6b2ba911fefc98d275f038b16e5fd0398e8334bcf691ecd12","first_computed_at":"2026-07-05T11:17:54.994488Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:17:54.994488Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+9DLf5SSscO8CJsE/ScHyqtvxuAdfHHVXSIG3CmL2k/FyW0JyDAuxmqDfSc8LgVDCDh9cSeB0ZFupGJupGCLBA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:17:54.994913Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.06746","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a43da18cde5108ed9ca9c4ea9e87372b162624708447fac8cc005a5db5fad0a2","sha256:0f7965ae9132e1781a9195ee1b0aec1bc5c11d581ef5fc1219e7d77781132888"],"state_sha256":"d24d47872d2f3b098da400ff479e10f9b2264de6f656a8678e519c6b927f9118"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Nj9K2tZLz3lwzwXFRbv36WkXeIVUrnMxiCmGkVk6Y/9f/IFUkUxOUBaLkv28Nx6qGGXquExagdVzTkWf+715CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T09:32:58.288730Z","bundle_sha256":"abf29f768257c443bc8e2e8d6bbec568f6d6aaa1885c291840737cb661cdd385"}}