{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:H7KI24ELPKCHRUA7YK7NP2Y5PI","short_pith_number":"pith:H7KI24EL","canonical_record":{"source":{"id":"2405.10847","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-17T15:22:34Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba67592589a9dedc989bbc050ff5688cb057a1120de36c51a34cc413f7bfab9f","abstract_canon_sha256":"9986e4283af93250ca70028891d6f6f3ce49ea790515708c049a68f5f02ca177"},"schema_version":"1.0"},"canonical_sha256":"3fd48d708b7a8478d01fc2bed7eb1d7a1313838273dd2cc73c5c0a8c89c7f829","source":{"kind":"arxiv","id":"2405.10847","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.10847","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"arxiv_version","alias_value":"2405.10847v1","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.10847","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_12","alias_value":"H7KI24ELPKCH","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_16","alias_value":"H7KI24ELPKCHRUA7","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_8","alias_value":"H7KI24EL","created_at":"2026-07-05T08:20:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:H7KI24ELPKCHRUA7YK7NP2Y5PI","target":"record","payload":{"canonical_record":{"source":{"id":"2405.10847","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-17T15:22:34Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba67592589a9dedc989bbc050ff5688cb057a1120de36c51a34cc413f7bfab9f","abstract_canon_sha256":"9986e4283af93250ca70028891d6f6f3ce49ea790515708c049a68f5f02ca177"},"schema_version":"1.0"},"canonical_sha256":"3fd48d708b7a8478d01fc2bed7eb1d7a1313838273dd2cc73c5c0a8c89c7f829","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:20:17.787047Z","signature_b64":"UDJ8Z5cNrW8lScHrGkmA3tAARIB6reukaarXU97397CLeBVyFrPT92N/cJ2ESn1jxunuoNuot2al9gTESRQhCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3fd48d708b7a8478d01fc2bed7eb1d7a1313838273dd2cc73c5c0a8c89c7f829","last_reissued_at":"2026-07-05T08:20:17.786646Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:20:17.786646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.10847","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":"2026-07-05T08:20:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rAn19kZLNcR98XmlHMsVRp1qVVEXLEItJj5/vDnSgVxIOXSPDGHW3UIOy02F1bK8Z75+tmApU57uPASJWVSoDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T12:51:06.328951Z"},"content_sha256":"8ee5fc73d37bb79fba3437a4b45fc05b47d3b59c816e6c7af8a5e3fd0c94a3bb","schema_version":"1.0","event_id":"sha256:8ee5fc73d37bb79fba3437a4b45fc05b47d3b59c816e6c7af8a5e3fd0c94a3bb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:H7KI24ELPKCHRUA7YK7NP2Y5PI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Alberto Bertipaglia, Aldo Sorniotti, Barys Shyrokau, Davide Tavernini, Mohsen Alirezaei, Riender Happee, Umberto Montanaro","submitted_at":"2024-05-17T15:22:34Z","abstract_excerpt":"This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at the limit of handling. The proposed algorithm combines motion planning, path tracking and vehicle stability objectives, prioritising collision avoidance in emergencies. The controller's prediction model is a nonlinear double-track vehicle model based on an extended Fiala tyre to capture the nonlinear coupled longitudinal and lateral dynamics. The controller "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.10847","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/2405.10847/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":"2026-07-05T08:20:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"56B30JEIursqoTDcMgUF83w+dfIDXrxKFTRS83tJo0BYworGZAF5YI74MvOIcQA/mPza4Q4qxSVrU0XY1cJNDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T12:51:06.329488Z"},"content_sha256":"3947b1fac75169b62e4b4d42bcc351ecffffd0262c83c5d07380a035372f0bb3","schema_version":"1.0","event_id":"sha256:3947b1fac75169b62e4b4d42bcc351ecffffd0262c83c5d07380a035372f0bb3"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/bundle.json","state_url":"https://pith.science/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/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":"2026-08-21T12:51:06Z","links":{"resolver":"https://pith.science/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI","bundle":"https://pith.science/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/bundle.json","state":"https://pith.science/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H7KI24ELPKCHRUA7YK7NP2Y5PI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:H7KI24ELPKCHRUA7YK7NP2Y5PI","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":"9986e4283af93250ca70028891d6f6f3ce49ea790515708c049a68f5f02ca177","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-17T15:22:34Z","title_canon_sha256":"ba67592589a9dedc989bbc050ff5688cb057a1120de36c51a34cc413f7bfab9f"},"schema_version":"1.0","source":{"id":"2405.10847","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.10847","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"arxiv_version","alias_value":"2405.10847v1","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.10847","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_12","alias_value":"H7KI24ELPKCH","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_16","alias_value":"H7KI24ELPKCHRUA7","created_at":"2026-07-05T08:20:17Z"},{"alias_kind":"pith_short_8","alias_value":"H7KI24EL","created_at":"2026-07-05T08:20:17Z"}],"graph_snapshots":[{"event_id":"sha256:3947b1fac75169b62e4b4d42bcc351ecffffd0262c83c5d07380a035372f0bb3","target":"graph","created_at":"2026-07-05T08:20:17Z","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/2405.10847/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at the limit of handling. The proposed algorithm combines motion planning, path tracking and vehicle stability objectives, prioritising collision avoidance in emergencies. The controller's prediction model is a nonlinear double-track vehicle model based on an extended Fiala tyre to capture the nonlinear coupled longitudinal and lateral dynamics. The controller ","authors_text":"Alberto Bertipaglia, Aldo Sorniotti, Barys Shyrokau, Davide Tavernini, Mohsen Alirezaei, Riender Happee, Umberto Montanaro","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-17T15:22:34Z","title":"Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.10847","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":"sha256:8ee5fc73d37bb79fba3437a4b45fc05b47d3b59c816e6c7af8a5e3fd0c94a3bb","target":"record","created_at":"2026-07-05T08:20:17Z","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":"9986e4283af93250ca70028891d6f6f3ce49ea790515708c049a68f5f02ca177","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-17T15:22:34Z","title_canon_sha256":"ba67592589a9dedc989bbc050ff5688cb057a1120de36c51a34cc413f7bfab9f"},"schema_version":"1.0","source":{"id":"2405.10847","kind":"arxiv","version":1}},"canonical_sha256":"3fd48d708b7a8478d01fc2bed7eb1d7a1313838273dd2cc73c5c0a8c89c7f829","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3fd48d708b7a8478d01fc2bed7eb1d7a1313838273dd2cc73c5c0a8c89c7f829","first_computed_at":"2026-07-05T08:20:17.786646Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:20:17.786646Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UDJ8Z5cNrW8lScHrGkmA3tAARIB6reukaarXU97397CLeBVyFrPT92N/cJ2ESn1jxunuoNuot2al9gTESRQhCw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:20:17.787047Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.10847","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8ee5fc73d37bb79fba3437a4b45fc05b47d3b59c816e6c7af8a5e3fd0c94a3bb","sha256:3947b1fac75169b62e4b4d42bcc351ecffffd0262c83c5d07380a035372f0bb3"],"state_sha256":"f8a6b8fbe7c885fb0f091091c8d81c9f6545a699545e19f5107e0cf0a9188e96"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BMfBTt5CX3Nar7+KiZXPv0cBqvsMVRqrb9JH1jX7XKI1HnImL97xcQGSGIfZxyJgyy9Kcd257Eh7ZmHopIF+DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T12:51:06.334497Z","bundle_sha256":"3beea1ab449e14eb9ab7a28c494043559663da17977de2f6d94610fc9a7157c4"}}