{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:XRRMWQESKYY6WWLCSDCJ4OZESA","short_pith_number":"pith:XRRMWQES","canonical_record":{"source":{"id":"1605.00026","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-29T21:20:16Z","cross_cats_sorted":[],"title_canon_sha256":"3798117f346247ebf5f53953461a4a2dc56db2dd02df1be11eaacc3c36232c79","abstract_canon_sha256":"83a403128947891475ccc5dda9f63874da80259d731e692b46c34f5f167b5fca"},"schema_version":"1.0"},"canonical_sha256":"bc62cb40925631eb596290c49e3b24900d4cccf017692a3c706c03ee0f387a5b","source":{"kind":"arxiv","id":"1605.00026","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1605.00026","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"1605.00026v1","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1605.00026","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"XRRMWQESKYY6","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_16","alias_value":"XRRMWQESKYY6WWLC","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_8","alias_value":"XRRMWQES","created_at":"2026-05-18T12:30:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:XRRMWQESKYY6WWLCSDCJ4OZESA","target":"record","payload":{"canonical_record":{"source":{"id":"1605.00026","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-29T21:20:16Z","cross_cats_sorted":[],"title_canon_sha256":"3798117f346247ebf5f53953461a4a2dc56db2dd02df1be11eaacc3c36232c79","abstract_canon_sha256":"83a403128947891475ccc5dda9f63874da80259d731e692b46c34f5f167b5fca"},"schema_version":"1.0"},"canonical_sha256":"bc62cb40925631eb596290c49e3b24900d4cccf017692a3c706c03ee0f387a5b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:15:57.048039Z","signature_b64":"3KgZx8iMQ9cZorGRxCLsdZwthMuWZtNLdX1+rlMmV/MawxWTRQh1OGjNZLc/3S294JT1x/ebxc6LRN4ga44hCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bc62cb40925631eb596290c49e3b24900d4cccf017692a3c706c03ee0f387a5b","last_reissued_at":"2026-05-18T01:15:57.047352Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:15:57.047352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1605.00026","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":"2026-05-18T01:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DAUROorjSAolhNM41UHggKBIHBodiBocmX2sScR2L1H06muqtvXqLtJqN2TA/wT18hp+1g8an09h/rIV8JMqBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:38:55.859898Z"},"content_sha256":"66bc7a6cc7a85166cb5796e3876fce4282ab49a34493770d15b809606eb8df33","schema_version":"1.0","event_id":"sha256:66bc7a6cc7a85166cb5796e3876fce4282ab49a34493770d15b809606eb8df33"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:XRRMWQESKYY6WWLCSDCJ4OZESA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Arnaud de La Fortelle, Fabien Moutarde, Florent Altch\\'e, Xiangjun Qian","submitted_at":"2016-04-29T21:20:16Z","abstract_excerpt":"This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based tracking controller for each individual vehicle to follow a reference trajectory while satisfying various constraints (kinematics and dynamics, collision avoidance, \\textit{etc.})"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.00026","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":""},"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":"2026-05-18T01:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VYJx5xlvwttiB/YGMA/LXeN+HIclkoEW8zZQBextVvuMzxJXKM+9mznCW+zF4WIA1Qn8KrNF5HBJ0KrvgErGAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T19:38:55.860242Z"},"content_sha256":"01280b5613cbfd5f44c50b8278590ed138d7a0e0e4209d398c14398e24270fd2","schema_version":"1.0","event_id":"sha256:01280b5613cbfd5f44c50b8278590ed138d7a0e0e4209d398c14398e24270fd2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/bundle.json","state_url":"https://pith.science/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/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":"2026-06-01T19:38:55Z","links":{"resolver":"https://pith.science/pith/XRRMWQESKYY6WWLCSDCJ4OZESA","bundle":"https://pith.science/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/bundle.json","state":"https://pith.science/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XRRMWQESKYY6WWLCSDCJ4OZESA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:XRRMWQESKYY6WWLCSDCJ4OZESA","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":"83a403128947891475ccc5dda9f63874da80259d731e692b46c34f5f167b5fca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-29T21:20:16Z","title_canon_sha256":"3798117f346247ebf5f53953461a4a2dc56db2dd02df1be11eaacc3c36232c79"},"schema_version":"1.0","source":{"id":"1605.00026","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1605.00026","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"1605.00026v1","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1605.00026","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"XRRMWQESKYY6","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_16","alias_value":"XRRMWQESKYY6WWLC","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_8","alias_value":"XRRMWQES","created_at":"2026-05-18T12:30:51Z"}],"graph_snapshots":[{"event_id":"sha256:01280b5613cbfd5f44c50b8278590ed138d7a0e0e4209d398c14398e24270fd2","target":"graph","created_at":"2026-05-18T01:15:57Z","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":"This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based tracking controller for each individual vehicle to follow a reference trajectory while satisfying various constraints (kinematics and dynamics, collision avoidance, \\textit{etc.})","authors_text":"Arnaud de La Fortelle, Fabien Moutarde, Florent Altch\\'e, Xiangjun Qian","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-29T21:20:16Z","title":"A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1605.00026","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":"sha256:66bc7a6cc7a85166cb5796e3876fce4282ab49a34493770d15b809606eb8df33","target":"record","created_at":"2026-05-18T01:15:57Z","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":"83a403128947891475ccc5dda9f63874da80259d731e692b46c34f5f167b5fca","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-29T21:20:16Z","title_canon_sha256":"3798117f346247ebf5f53953461a4a2dc56db2dd02df1be11eaacc3c36232c79"},"schema_version":"1.0","source":{"id":"1605.00026","kind":"arxiv","version":1}},"canonical_sha256":"bc62cb40925631eb596290c49e3b24900d4cccf017692a3c706c03ee0f387a5b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bc62cb40925631eb596290c49e3b24900d4cccf017692a3c706c03ee0f387a5b","first_computed_at":"2026-05-18T01:15:57.047352Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:15:57.047352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3KgZx8iMQ9cZorGRxCLsdZwthMuWZtNLdX1+rlMmV/MawxWTRQh1OGjNZLc/3S294JT1x/ebxc6LRN4ga44hCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:15:57.048039Z","signed_message":"canonical_sha256_bytes"},"source_id":"1605.00026","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:66bc7a6cc7a85166cb5796e3876fce4282ab49a34493770d15b809606eb8df33","sha256:01280b5613cbfd5f44c50b8278590ed138d7a0e0e4209d398c14398e24270fd2"],"state_sha256":"5080869f3b4fe19cda20ec60777ed4507a4e27d9a9f0f8ceb31675f4816d1896"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GTTseN6r0sRIRBSAit5xLzu6JzszcosbcWRqyVwopxQoyPabj8ZkmeC6MeK/YIyRiHjOy+oKtYH+VotRKZQNCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T19:38:55.862146Z","bundle_sha256":"54a7db6b9a63c8e7b464f3049e36f673c14ca425a61d8a8965769055a0bc9dda"}}