{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:QI7UFHIENJNHGY6LGL7SATXNMT","short_pith_number":"pith:QI7UFHIE","canonical_record":{"source":{"id":"1701.08735","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-01-30T18:06:50Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"91e02f01b220f64d63480ad41ed505f5b9374a2c5f039aa3e6b489541519f3a9","abstract_canon_sha256":"c87df0939006432875512d6578658493cc4c9cf2c935378b3a1589c376a774ca"},"schema_version":"1.0"},"canonical_sha256":"823f429d046a5a7363cb32ff204eed64d8bacf815385a2792649d825cf276dcb","source":{"kind":"arxiv","id":"1701.08735","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1701.08735","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"arxiv_version","alias_value":"1701.08735v2","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1701.08735","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"pith_short_12","alias_value":"QI7UFHIENJNH","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_16","alias_value":"QI7UFHIENJNHGY6L","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_8","alias_value":"QI7UFHIE","created_at":"2026-05-18T12:31:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:QI7UFHIENJNHGY6LGL7SATXNMT","target":"record","payload":{"canonical_record":{"source":{"id":"1701.08735","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-01-30T18:06:50Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"91e02f01b220f64d63480ad41ed505f5b9374a2c5f039aa3e6b489541519f3a9","abstract_canon_sha256":"c87df0939006432875512d6578658493cc4c9cf2c935378b3a1589c376a774ca"},"schema_version":"1.0"},"canonical_sha256":"823f429d046a5a7363cb32ff204eed64d8bacf815385a2792649d825cf276dcb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:28:25.786832Z","signature_b64":"PHZNQ+FIqWmYX6fz0B/2zfFYExsLK0i0ZAm62hykV9IsNoMPtC9fBME1W53Yp2tevtqVnug1zbcbqa+BxtYwBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"823f429d046a5a7363cb32ff204eed64d8bacf815385a2792649d825cf276dcb","last_reissued_at":"2026-05-18T00:28:25.786171Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:28:25.786171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1701.08735","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":"2026-05-18T00:28:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"re8R4kFlRU+YlFBx9F2yXeogpAlEzUcBVTRxvqjb9W7974Y4KoH3Y3MGof0agyETqAKuGP3AxCPC90LEzytEDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T00:15:24.474667Z"},"content_sha256":"8a566c918b9c9ca06cf9aa4a9789225b606e3b9611e1b232e37ba030bbd9f0b9","schema_version":"1.0","event_id":"sha256:8a566c918b9c9ca06cf9aa4a9789225b606e3b9611e1b232e37ba030bbd9f0b9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:QI7UFHIENJNHGY6LGL7SATXNMT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Real-Time Control for Autonomous Racing Based on Viability Theory","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"Alexander Liniger, John Lygeros","submitted_at":"2017-01-30T18:06:50Z","abstract_excerpt":"In this paper we consider autonomous driving of miniature race cars. The viability kernel is used to efficiently generate finite look-ahead trajectories that maximize progress while remaining recursively feasible with respect to static obstacles (e.g., stay inside the track). Together with a low-level model predictive controller, this method makes real-time autonomous racing possible. The viability kernel computation is based on space discretization. To make the calculation robust against discretization errors, we propose a novel numerical scheme based on game theoretical methods, in particula"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.08735","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":""},"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":"2026-05-18T00:28:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MvqRnPWViZJbYjfJpoMUyFjBbzc8K5B4ay1dQsRHXc6CpkTRcKoP+Rdh12xWcJjdrBWZWDdOvsqOntDGw/2WCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T00:15:24.475405Z"},"content_sha256":"ce4de0dcc0d03f73c7f5f17f6c5d6fbdb23c4850966b47a863c95457da953938","schema_version":"1.0","event_id":"sha256:ce4de0dcc0d03f73c7f5f17f6c5d6fbdb23c4850966b47a863c95457da953938"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QI7UFHIENJNHGY6LGL7SATXNMT/bundle.json","state_url":"https://pith.science/pith/QI7UFHIENJNHGY6LGL7SATXNMT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QI7UFHIENJNHGY6LGL7SATXNMT/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":"2026-06-11T00:15:24Z","links":{"resolver":"https://pith.science/pith/QI7UFHIENJNHGY6LGL7SATXNMT","bundle":"https://pith.science/pith/QI7UFHIENJNHGY6LGL7SATXNMT/bundle.json","state":"https://pith.science/pith/QI7UFHIENJNHGY6LGL7SATXNMT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QI7UFHIENJNHGY6LGL7SATXNMT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:QI7UFHIENJNHGY6LGL7SATXNMT","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":"c87df0939006432875512d6578658493cc4c9cf2c935378b3a1589c376a774ca","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-01-30T18:06:50Z","title_canon_sha256":"91e02f01b220f64d63480ad41ed505f5b9374a2c5f039aa3e6b489541519f3a9"},"schema_version":"1.0","source":{"id":"1701.08735","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1701.08735","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"arxiv_version","alias_value":"1701.08735v2","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1701.08735","created_at":"2026-05-18T00:28:25Z"},{"alias_kind":"pith_short_12","alias_value":"QI7UFHIENJNH","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_16","alias_value":"QI7UFHIENJNHGY6L","created_at":"2026-05-18T12:31:39Z"},{"alias_kind":"pith_short_8","alias_value":"QI7UFHIE","created_at":"2026-05-18T12:31:39Z"}],"graph_snapshots":[{"event_id":"sha256:ce4de0dcc0d03f73c7f5f17f6c5d6fbdb23c4850966b47a863c95457da953938","target":"graph","created_at":"2026-05-18T00:28:25Z","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":"In this paper we consider autonomous driving of miniature race cars. The viability kernel is used to efficiently generate finite look-ahead trajectories that maximize progress while remaining recursively feasible with respect to static obstacles (e.g., stay inside the track). Together with a low-level model predictive controller, this method makes real-time autonomous racing possible. The viability kernel computation is based on space discretization. To make the calculation robust against discretization errors, we propose a novel numerical scheme based on game theoretical methods, in particula","authors_text":"Alexander Liniger, John Lygeros","cross_cats":["cs.RO","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-01-30T18:06:50Z","title":"Real-Time Control for Autonomous Racing Based on Viability Theory"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.08735","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":"sha256:8a566c918b9c9ca06cf9aa4a9789225b606e3b9611e1b232e37ba030bbd9f0b9","target":"record","created_at":"2026-05-18T00:28:25Z","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":"c87df0939006432875512d6578658493cc4c9cf2c935378b3a1589c376a774ca","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-01-30T18:06:50Z","title_canon_sha256":"91e02f01b220f64d63480ad41ed505f5b9374a2c5f039aa3e6b489541519f3a9"},"schema_version":"1.0","source":{"id":"1701.08735","kind":"arxiv","version":2}},"canonical_sha256":"823f429d046a5a7363cb32ff204eed64d8bacf815385a2792649d825cf276dcb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"823f429d046a5a7363cb32ff204eed64d8bacf815385a2792649d825cf276dcb","first_computed_at":"2026-05-18T00:28:25.786171Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:28:25.786171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PHZNQ+FIqWmYX6fz0B/2zfFYExsLK0i0ZAm62hykV9IsNoMPtC9fBME1W53Yp2tevtqVnug1zbcbqa+BxtYwBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:28:25.786832Z","signed_message":"canonical_sha256_bytes"},"source_id":"1701.08735","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8a566c918b9c9ca06cf9aa4a9789225b606e3b9611e1b232e37ba030bbd9f0b9","sha256:ce4de0dcc0d03f73c7f5f17f6c5d6fbdb23c4850966b47a863c95457da953938"],"state_sha256":"82c5437fa73ca48516e23063ca49b5e9e6b3b6597bcd8deb6c44e86e4232f253"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uPHeJHvWLpEQHcadvlA0bcMTCmELvUalts2JgQIwfR/3FU5dfgejv3wlDW7V0MRLV8ni8+dHBgsUzBUrannSAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T00:15:24.479346Z","bundle_sha256":"cf90d35dbcced16b2470e96e29a268a611f00f51434f953537a614ecb48d51a5"}}