{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:UWZKND5BXATKAZ5KE2YUDATFKN","short_pith_number":"pith:UWZKND5B","canonical_record":{"source":{"id":"2205.14669","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-05-29T13:53:47Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"d141d92fb167f3b4c58db445d6d891cd868a820c1cf4530bb85a921b5520de30","abstract_canon_sha256":"e572a64627a7a367fe7b8d21e7eda098e03468a61250f0a084e7a29cb5d4992c"},"schema_version":"1.0"},"canonical_sha256":"a5b2a68fa1b826a067aa26b14182655368d2c8c037bc43d54a4a1d732ee5ffa0","source":{"kind":"arxiv","id":"2205.14669","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.14669","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2205.14669v1","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.14669","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"UWZKND5BXATK","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"UWZKND5BXATKAZ5K","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"UWZKND5B","created_at":"2026-07-05T04:27:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:UWZKND5BXATKAZ5KE2YUDATFKN","target":"record","payload":{"canonical_record":{"source":{"id":"2205.14669","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-05-29T13:53:47Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"d141d92fb167f3b4c58db445d6d891cd868a820c1cf4530bb85a921b5520de30","abstract_canon_sha256":"e572a64627a7a367fe7b8d21e7eda098e03468a61250f0a084e7a29cb5d4992c"},"schema_version":"1.0"},"canonical_sha256":"a5b2a68fa1b826a067aa26b14182655368d2c8c037bc43d54a4a1d732ee5ffa0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:27:20.004127Z","signature_b64":"Qa8fcUruxpZh1kOrzOErx9qnqt+6xt5A/Kh2xICLeJnYiYySQ/M/aybimy5kRHh2toqkhO0N5+oeUhKxCamOBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a5b2a68fa1b826a067aa26b14182655368d2c8c037bc43d54a4a1d732ee5ffa0","last_reissued_at":"2026-07-05T04:27:20.003711Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:27:20.003711Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2205.14669","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":"2026-07-05T04:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jVh6juU+iyptbWOmwEcm0mXf9+Etn+La2zRGl+wCZQeKJZaXxA2hZYceYShurPDt/CrLSsjQ0mbNC8eNLj7KBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T16:24:56.986693Z"},"content_sha256":"ade031662be0360d216943232324f4e4c933be2ae94d2c0c2aebb65852c6a6da","schema_version":"1.0","event_id":"sha256:ade031662be0360d216943232324f4e4c933be2ae94d2c0c2aebb65852c6a6da"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:UWZKND5BXATKAZ5KE2YUDATFKN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Joint Constrained Bayesian Optimization of Planning, Guidance, Control, and State Estimation of an Autonomous Underwater Vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"David Stenger, Dirk Abel, Maximilian Nitsch","submitted_at":"2022-05-29T13:53:47Z","abstract_excerpt":"The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to arbitrary high-level control objectives within different operational scenarios. In contrast to literature, an overall tuning is performed for the entire GNC system, which is new in the context of autonomous underwater vehicles. The main challenges in solving the optimization problem are computationally expensive objective function evaluations, crashing simulat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.14669","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/2205.14669/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":"2026-07-05T04:27:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AnGqgtqBQoL4Dj3N4QkY449r5jSq3pGkNKDwvUOCumfbHKZcNAFipa56ZT1bV7EMWtmRp/BwE3DtD8CPUCPHBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T16:24:56.987193Z"},"content_sha256":"820c77eae318011a4ebbc00821d750bc7f1ef81fe137758554521e2f85bf676a","schema_version":"1.0","event_id":"sha256:820c77eae318011a4ebbc00821d750bc7f1ef81fe137758554521e2f85bf676a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UWZKND5BXATKAZ5KE2YUDATFKN/bundle.json","state_url":"https://pith.science/pith/UWZKND5BXATKAZ5KE2YUDATFKN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UWZKND5BXATKAZ5KE2YUDATFKN/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":"2026-08-10T16:24:56Z","links":{"resolver":"https://pith.science/pith/UWZKND5BXATKAZ5KE2YUDATFKN","bundle":"https://pith.science/pith/UWZKND5BXATKAZ5KE2YUDATFKN/bundle.json","state":"https://pith.science/pith/UWZKND5BXATKAZ5KE2YUDATFKN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UWZKND5BXATKAZ5KE2YUDATFKN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:UWZKND5BXATKAZ5KE2YUDATFKN","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":"e572a64627a7a367fe7b8d21e7eda098e03468a61250f0a084e7a29cb5d4992c","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-05-29T13:53:47Z","title_canon_sha256":"d141d92fb167f3b4c58db445d6d891cd868a820c1cf4530bb85a921b5520de30"},"schema_version":"1.0","source":{"id":"2205.14669","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.14669","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"arxiv_version","alias_value":"2205.14669v1","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.14669","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_12","alias_value":"UWZKND5BXATK","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_16","alias_value":"UWZKND5BXATKAZ5K","created_at":"2026-07-05T04:27:20Z"},{"alias_kind":"pith_short_8","alias_value":"UWZKND5B","created_at":"2026-07-05T04:27:20Z"}],"graph_snapshots":[{"event_id":"sha256:820c77eae318011a4ebbc00821d750bc7f1ef81fe137758554521e2f85bf676a","target":"graph","created_at":"2026-07-05T04:27:20Z","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/2205.14669/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The performance of a guidance, navigation and control (GNC) system of an autonomous underwater vehicle (AUV) heavily depends on the correct tuning of its parameters. Our objective is to automatically tune these parameters with respect to arbitrary high-level control objectives within different operational scenarios. In contrast to literature, an overall tuning is performed for the entire GNC system, which is new in the context of autonomous underwater vehicles. The main challenges in solving the optimization problem are computationally expensive objective function evaluations, crashing simulat","authors_text":"David Stenger, Dirk Abel, Maximilian Nitsch","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-05-29T13:53:47Z","title":"Joint Constrained Bayesian Optimization of Planning, Guidance, Control, and State Estimation of an Autonomous Underwater Vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.14669","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:ade031662be0360d216943232324f4e4c933be2ae94d2c0c2aebb65852c6a6da","target":"record","created_at":"2026-07-05T04:27:20Z","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":"e572a64627a7a367fe7b8d21e7eda098e03468a61250f0a084e7a29cb5d4992c","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-05-29T13:53:47Z","title_canon_sha256":"d141d92fb167f3b4c58db445d6d891cd868a820c1cf4530bb85a921b5520de30"},"schema_version":"1.0","source":{"id":"2205.14669","kind":"arxiv","version":1}},"canonical_sha256":"a5b2a68fa1b826a067aa26b14182655368d2c8c037bc43d54a4a1d732ee5ffa0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a5b2a68fa1b826a067aa26b14182655368d2c8c037bc43d54a4a1d732ee5ffa0","first_computed_at":"2026-07-05T04:27:20.003711Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:27:20.003711Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Qa8fcUruxpZh1kOrzOErx9qnqt+6xt5A/Kh2xICLeJnYiYySQ/M/aybimy5kRHh2toqkhO0N5+oeUhKxCamOBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:27:20.004127Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.14669","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ade031662be0360d216943232324f4e4c933be2ae94d2c0c2aebb65852c6a6da","sha256:820c77eae318011a4ebbc00821d750bc7f1ef81fe137758554521e2f85bf676a"],"state_sha256":"f9fe02dc0a26b4ff2e5e858ad9021704235fb3758647729ff79776a8048c4f63"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c2904MkjGOaRgmtPyLLgewrHjHVuhzzUAMGHOZw/lHGwaXkxfKmcgcyc7HK8m8AzuOTplfnSOIwKTu0FxyuxDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T16:24:56.990897Z","bundle_sha256":"973ee81f5e5b6182d15428d382fa8ec5fc876c54a418e523e19f2d43ce65da0a"}}