{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:LHCK2KYDQWVRUS5G5EZRMI2X2F","short_pith_number":"pith:LHCK2KYD","canonical_record":{"source":{"id":"1607.07019","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-24T09:53:25Z","cross_cats_sorted":[],"title_canon_sha256":"626ecbea87e94d045e4bbf215a007b513e64d0aa103fbb47d0324536a35ef920","abstract_canon_sha256":"d21a631f5d7d5f73e8083b52c1a3eebfc37e725fe1a6db2c6649273e4b075845"},"schema_version":"1.0"},"canonical_sha256":"59c4ad2b0385ab1a4ba6e933162357d151cac4b4e3c1e153fde08f0d18f3e618","source":{"kind":"arxiv","id":"1607.07019","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.07019","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"arxiv_version","alias_value":"1607.07019v5","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.07019","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"pith_short_12","alias_value":"LHCK2KYDQWVR","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_16","alias_value":"LHCK2KYDQWVRUS5G","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_8","alias_value":"LHCK2KYD","created_at":"2026-05-18T12:30:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:LHCK2KYDQWVRUS5G5EZRMI2X2F","target":"record","payload":{"canonical_record":{"source":{"id":"1607.07019","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-24T09:53:25Z","cross_cats_sorted":[],"title_canon_sha256":"626ecbea87e94d045e4bbf215a007b513e64d0aa103fbb47d0324536a35ef920","abstract_canon_sha256":"d21a631f5d7d5f73e8083b52c1a3eebfc37e725fe1a6db2c6649273e4b075845"},"schema_version":"1.0"},"canonical_sha256":"59c4ad2b0385ab1a4ba6e933162357d151cac4b4e3c1e153fde08f0d18f3e618","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:56:25.358368Z","signature_b64":"Rt53vdEcuQN+MXQWW8B/QqlL7t/5TJnpGJW+1jXeyJDTML+bQQ6u60gsIGO8xvC+R5cxy1D0da1hN0L4OlyDAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"59c4ad2b0385ab1a4ba6e933162357d151cac4b4e3c1e153fde08f0d18f3e618","last_reissued_at":"2026-05-17T23:56:25.357965Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:56:25.357965Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.07019","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:56:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WOG7NMnT5Btf0s0tlRHhmHo2uLly7udFCk+FhlFXTpJziaQCbADVLNzGSZ3e1ZeOaCpFeR+B3/7XLlABX0BjAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T13:26:55.871523Z"},"content_sha256":"5eb7e26ecb824e4dccf34fbdbee41723609885b00173a84d307a24d725dea176","schema_version":"1.0","event_id":"sha256:5eb7e26ecb824e4dccf34fbdbee41723609885b00173a84d307a24d725dea176"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:LHCK2KYDQWVRUS5G5EZRMI2X2F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Control for Signal Temporal Logic Specifications using Average Space Robustness","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Dimos V. Dimarogonas, Lars Lindemann","submitted_at":"2016-07-24T09:53:25Z","abstract_excerpt":"Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size becomes too large. In this paper, a robust and computationally efficient model predictive control framework for signal temporal logic specifications is proposed. We introduce discrete average space robustness, a novel quantitative semantic for signal temporal logic, that is directly incorporated into the cost function of the model predictive controller. The op"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.07019","kind":"arxiv","version":5},"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":"2026-05-17T23:56:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B1gQ7c5j/Gv8iHmLJhpHEZgaqvazO3b5FVAv1O4gxmnv1w2GA0gZJLL6fqnoBKjheXkGhvQeNckoijKUpYENDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T13:26:55.871866Z"},"content_sha256":"1b006f2ae36449b949c33401a44b163560ef6cbd764cbd1ed846fde5b0dd4ebe","schema_version":"1.0","event_id":"sha256:1b006f2ae36449b949c33401a44b163560ef6cbd764cbd1ed846fde5b0dd4ebe"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/bundle.json","state_url":"https://pith.science/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/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":"2026-06-01T13:26:55Z","links":{"resolver":"https://pith.science/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F","bundle":"https://pith.science/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/bundle.json","state":"https://pith.science/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LHCK2KYDQWVRUS5G5EZRMI2X2F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:LHCK2KYDQWVRUS5G5EZRMI2X2F","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":"d21a631f5d7d5f73e8083b52c1a3eebfc37e725fe1a6db2c6649273e4b075845","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-24T09:53:25Z","title_canon_sha256":"626ecbea87e94d045e4bbf215a007b513e64d0aa103fbb47d0324536a35ef920"},"schema_version":"1.0","source":{"id":"1607.07019","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.07019","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"arxiv_version","alias_value":"1607.07019v5","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.07019","created_at":"2026-05-17T23:56:25Z"},{"alias_kind":"pith_short_12","alias_value":"LHCK2KYDQWVR","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_16","alias_value":"LHCK2KYDQWVRUS5G","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_8","alias_value":"LHCK2KYD","created_at":"2026-05-18T12:30:29Z"}],"graph_snapshots":[{"event_id":"sha256:1b006f2ae36449b949c33401a44b163560ef6cbd764cbd1ed846fde5b0dd4ebe","target":"graph","created_at":"2026-05-17T23:56:25Z","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":"Control systems that satisfy temporal logic specifications have become increasingly popular due to their applicability to robotic systems. Existing control methods, however, are computationally demanding, especially when the problem size becomes too large. In this paper, a robust and computationally efficient model predictive control framework for signal temporal logic specifications is proposed. We introduce discrete average space robustness, a novel quantitative semantic for signal temporal logic, that is directly incorporated into the cost function of the model predictive controller. The op","authors_text":"Dimos V. Dimarogonas, Lars Lindemann","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-24T09:53:25Z","title":"Robust Control for Signal Temporal Logic Specifications using Average Space Robustness"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.07019","kind":"arxiv","version":5},"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":"sha256:5eb7e26ecb824e4dccf34fbdbee41723609885b00173a84d307a24d725dea176","target":"record","created_at":"2026-05-17T23:56:25Z","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":"d21a631f5d7d5f73e8083b52c1a3eebfc37e725fe1a6db2c6649273e4b075845","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-24T09:53:25Z","title_canon_sha256":"626ecbea87e94d045e4bbf215a007b513e64d0aa103fbb47d0324536a35ef920"},"schema_version":"1.0","source":{"id":"1607.07019","kind":"arxiv","version":5}},"canonical_sha256":"59c4ad2b0385ab1a4ba6e933162357d151cac4b4e3c1e153fde08f0d18f3e618","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"59c4ad2b0385ab1a4ba6e933162357d151cac4b4e3c1e153fde08f0d18f3e618","first_computed_at":"2026-05-17T23:56:25.357965Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:25.357965Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Rt53vdEcuQN+MXQWW8B/QqlL7t/5TJnpGJW+1jXeyJDTML+bQQ6u60gsIGO8xvC+R5cxy1D0da1hN0L4OlyDAA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:25.358368Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.07019","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5eb7e26ecb824e4dccf34fbdbee41723609885b00173a84d307a24d725dea176","sha256:1b006f2ae36449b949c33401a44b163560ef6cbd764cbd1ed846fde5b0dd4ebe"],"state_sha256":"8d2f542eeb1769224505b25359bc23674d13294fe88c2102032fcf48df23dcaa"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IlArY+Zz8vf32Z6kI5OKMeXrfm05BvQGcN6UuV4PbW4K4s7me9dZ8Gn4tqfA3i8GGCmBPXj4JYZEBYdMUTlsBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T13:26:55.873770Z","bundle_sha256":"ad5469fc3181ba15d7b52b4effa3d2d5f5c61a85f4f4683348971e422a3d75e3"}}