{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:VXJZ52RDWFF6MMEK2IN4FCMJB5","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":"bee790c1d8155b509a6342498e520176fd011fc559ec9529fe2da9a48ad926e1","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T17:31:54Z","title_canon_sha256":"7a62593e3a43d18ceb34daf6f4af701857ed93fb6645d063deb9636e8013c60a"},"schema_version":"1.0","source":{"id":"2201.04590","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2201.04590","created_at":"2026-07-05T03:48:01Z"},{"alias_kind":"arxiv_version","alias_value":"2201.04590v1","created_at":"2026-07-05T03:48:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2201.04590","created_at":"2026-07-05T03:48:01Z"},{"alias_kind":"pith_short_12","alias_value":"VXJZ52RDWFF6","created_at":"2026-07-05T03:48:01Z"},{"alias_kind":"pith_short_16","alias_value":"VXJZ52RDWFF6MMEK","created_at":"2026-07-05T03:48:01Z"},{"alias_kind":"pith_short_8","alias_value":"VXJZ52RD","created_at":"2026-07-05T03:48:01Z"}],"graph_snapshots":[{"event_id":"sha256:36cec56562fcd30a53f8c37e42ee52ed43efeca443f09d2417d3940321ecbea0","target":"graph","created_at":"2026-07-05T03:48:01Z","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/2201.04590/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisfying the planning constraints, and the tracking layer utilizes the high-fidelity model to design a controller that restricts the error states between the low- and high-fidelity models to a bounded set. The low-fidelity model enables the planning to be performed online (e.g. using Model Predictive Control) and the tracking controller and error bound are derived offline (e.g. usi","authors_text":"He Yin, Katherine S. Schweidel, Murat Arcak, Stanley W. Smith","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T17:31:54Z","title":"Safe-by-Design Planner-Tracker Synthesis"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2201.04590","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":"sha256:30eef877bf09e4cbb62642790a1e40dc3b36c85b60f3fe9ebdac183388abba56","target":"record","created_at":"2026-07-05T03:48:01Z","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":"bee790c1d8155b509a6342498e520176fd011fc559ec9529fe2da9a48ad926e1","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-01-12T17:31:54Z","title_canon_sha256":"7a62593e3a43d18ceb34daf6f4af701857ed93fb6645d063deb9636e8013c60a"},"schema_version":"1.0","source":{"id":"2201.04590","kind":"arxiv","version":1}},"canonical_sha256":"add39eea23b14be6308ad21bc289890f5e00d6f3180c545d3592a35a81df76dd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"add39eea23b14be6308ad21bc289890f5e00d6f3180c545d3592a35a81df76dd","first_computed_at":"2026-07-05T03:48:01.703291Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:48:01.703291Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5VHXhRfK4A0CdqGTaeEmeLZosBS6zLrwU5pRuIEdbxSCcajt6bduwhPmY33qtNefIdgo/BUoeBPYCh0PmcTrBw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:48:01.703771Z","signed_message":"canonical_sha256_bytes"},"source_id":"2201.04590","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:30eef877bf09e4cbb62642790a1e40dc3b36c85b60f3fe9ebdac183388abba56","sha256:36cec56562fcd30a53f8c37e42ee52ed43efeca443f09d2417d3940321ecbea0"],"state_sha256":"43f7b090f686197aff444ae3702e8ddbbf1b6157f8765ed79d17f2cf8c1d0e5c"}