{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:T5JY4KBAZOMSSONA7GMXWS6M4P","short_pith_number":"pith:T5JY4KBA","canonical_record":{"source":{"id":"2303.17889","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"math.OC","submitted_at":"2023-03-31T08:45:26Z","cross_cats_sorted":[],"title_canon_sha256":"930c8d7d68031c30cfbe5c1ab54d1932c2fa650f8deda558adea47757f27b6ed","abstract_canon_sha256":"fc6932d42caa21b79819da474ff76294682c59a660b38e7869ea02b35b27b0ee"},"schema_version":"1.0"},"canonical_sha256":"9f538e2820cb992939a0f9997b4bcce3c0f0449067399ce757d678df2d6a1894","source":{"kind":"arxiv","id":"2303.17889","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.17889","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"arxiv_version","alias_value":"2303.17889v2","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.17889","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_12","alias_value":"T5JY4KBAZOMS","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_16","alias_value":"T5JY4KBAZOMSSONA","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_8","alias_value":"T5JY4KBA","created_at":"2026-07-05T06:02:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:T5JY4KBAZOMSSONA7GMXWS6M4P","target":"record","payload":{"canonical_record":{"source":{"id":"2303.17889","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"math.OC","submitted_at":"2023-03-31T08:45:26Z","cross_cats_sorted":[],"title_canon_sha256":"930c8d7d68031c30cfbe5c1ab54d1932c2fa650f8deda558adea47757f27b6ed","abstract_canon_sha256":"fc6932d42caa21b79819da474ff76294682c59a660b38e7869ea02b35b27b0ee"},"schema_version":"1.0"},"canonical_sha256":"9f538e2820cb992939a0f9997b4bcce3c0f0449067399ce757d678df2d6a1894","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:02:09.095673Z","signature_b64":"0rOjDnTCmxCuBd5vvSOJBW6ezTC0fpFRoeiYJE2zzdBNpr0SNb72OLAzzh/JVBKhXM4SD2DhHQH2814QTvutCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9f538e2820cb992939a0f9997b4bcce3c0f0449067399ce757d678df2d6a1894","last_reissued_at":"2026-07-05T06:02:09.095103Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:02:09.095103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.17889","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":"2026-07-05T06:02:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N2WWmVWWswhjC18RmcWE9ltQ8x5edy0VlI5DPyIgE7xnoGlkAEvT1JdIpWGznw9/WHtlw8G60JS06cEcNEzqAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T07:56:13.973956Z"},"content_sha256":"694653ad67de05a9f5f36a9dc346999aa82aa5ecebf98699ce8da1d73d9d2fd4","schema_version":"1.0","event_id":"sha256:694653ad67de05a9f5f36a9dc346999aa82aa5ecebf98699ce8da1d73d9d2fd4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:T5JY4KBAZOMSSONA7GMXWS6M4P","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Linear Model Predictive Control under Continuous Path Constraints via Parallelized Primal-Dual Hybrid Gradient Algorithm","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Bo Yang, Jiaqi Yan, Jiayun Li, Yilin Mo, Zishuo Li","submitted_at":"2023-03-31T08:45:26Z","abstract_excerpt":"In this paper, we consider a Model Predictive Control (MPC) problem of a continuous-time linear time-invariant system subject to continuous-time path constraints on the states and the inputs. By leveraging the concept of differential flatness, we can replace the differential equations governing the system with linear mapping between the states, inputs, and flat outputs (including their derivatives). The flat outputs are then parameterized by piecewise polynomials, and the model predictive control problem can be equivalently transformed into a Semi-Definite Programming (SDP) problem via Sum-of-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.17889","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/2303.17889/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":"2026-07-05T06:02:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qvyaZT2V4HmZ2rXgtjG04X5h1XYDnMpl9eK33ndRPmWrr6vsWpyNmZu9phff5KDGfckyIbDol7Q1mbXvQq5gDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-21T07:56:13.974345Z"},"content_sha256":"66831fb7bea5845ba2e6b3172c0cfec7aef3a5455f53a07b84856ac26e81506d","schema_version":"1.0","event_id":"sha256:66831fb7bea5845ba2e6b3172c0cfec7aef3a5455f53a07b84856ac26e81506d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/bundle.json","state_url":"https://pith.science/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/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":"2026-07-21T07:56:13Z","links":{"resolver":"https://pith.science/pith/T5JY4KBAZOMSSONA7GMXWS6M4P","bundle":"https://pith.science/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/bundle.json","state":"https://pith.science/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T5JY4KBAZOMSSONA7GMXWS6M4P/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:T5JY4KBAZOMSSONA7GMXWS6M4P","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":"fc6932d42caa21b79819da474ff76294682c59a660b38e7869ea02b35b27b0ee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"math.OC","submitted_at":"2023-03-31T08:45:26Z","title_canon_sha256":"930c8d7d68031c30cfbe5c1ab54d1932c2fa650f8deda558adea47757f27b6ed"},"schema_version":"1.0","source":{"id":"2303.17889","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.17889","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"arxiv_version","alias_value":"2303.17889v2","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.17889","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_12","alias_value":"T5JY4KBAZOMS","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_16","alias_value":"T5JY4KBAZOMSSONA","created_at":"2026-07-05T06:02:09Z"},{"alias_kind":"pith_short_8","alias_value":"T5JY4KBA","created_at":"2026-07-05T06:02:09Z"}],"graph_snapshots":[{"event_id":"sha256:66831fb7bea5845ba2e6b3172c0cfec7aef3a5455f53a07b84856ac26e81506d","target":"graph","created_at":"2026-07-05T06:02:09Z","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/2303.17889/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we consider a Model Predictive Control (MPC) problem of a continuous-time linear time-invariant system subject to continuous-time path constraints on the states and the inputs. By leveraging the concept of differential flatness, we can replace the differential equations governing the system with linear mapping between the states, inputs, and flat outputs (including their derivatives). The flat outputs are then parameterized by piecewise polynomials, and the model predictive control problem can be equivalently transformed into a Semi-Definite Programming (SDP) problem via Sum-of-","authors_text":"Bo Yang, Jiaqi Yan, Jiayun Li, Yilin Mo, Zishuo Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"math.OC","submitted_at":"2023-03-31T08:45:26Z","title":"Linear Model Predictive Control under Continuous Path Constraints via Parallelized Primal-Dual Hybrid Gradient Algorithm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.17889","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":"sha256:694653ad67de05a9f5f36a9dc346999aa82aa5ecebf98699ce8da1d73d9d2fd4","target":"record","created_at":"2026-07-05T06:02:09Z","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":"fc6932d42caa21b79819da474ff76294682c59a660b38e7869ea02b35b27b0ee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"math.OC","submitted_at":"2023-03-31T08:45:26Z","title_canon_sha256":"930c8d7d68031c30cfbe5c1ab54d1932c2fa650f8deda558adea47757f27b6ed"},"schema_version":"1.0","source":{"id":"2303.17889","kind":"arxiv","version":2}},"canonical_sha256":"9f538e2820cb992939a0f9997b4bcce3c0f0449067399ce757d678df2d6a1894","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9f538e2820cb992939a0f9997b4bcce3c0f0449067399ce757d678df2d6a1894","first_computed_at":"2026-07-05T06:02:09.095103Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:02:09.095103Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0rOjDnTCmxCuBd5vvSOJBW6ezTC0fpFRoeiYJE2zzdBNpr0SNb72OLAzzh/JVBKhXM4SD2DhHQH2814QTvutCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:02:09.095673Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.17889","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:694653ad67de05a9f5f36a9dc346999aa82aa5ecebf98699ce8da1d73d9d2fd4","sha256:66831fb7bea5845ba2e6b3172c0cfec7aef3a5455f53a07b84856ac26e81506d"],"state_sha256":"3d9dffb49fcf76e83f4bf411192fba3fffcbbf3f3dd3dcfe89cc35f86c1651ba"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WQa/Dt5UdUmhSwZ85pUiWgpuGBMJ00qvk1AVQGRp0xIDftCBdBTeNCmDenLrFjSd+bZnG9Z5HRNvFZw3iFb1AA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-21T07:56:13.976508Z","bundle_sha256":"0be65bb08a5bfb4a917bade1473423a4e0e403b13c510b6cac1041df3b0be853"}}