{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2013:ZBBD7MYKWWJN35L2GFZQF35BSA","short_pith_number":"pith:ZBBD7MYK","canonical_record":{"source":{"id":"1303.5118","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-03-20T22:57:49Z","cross_cats_sorted":[],"title_canon_sha256":"5b7ebcf453f5a035107d220f7265fc8e4716a1587833b48deba9adfa6c953ebf","abstract_canon_sha256":"76c1657e809d932858365cf2c62c3015dc2343de988318a20b41f8ec12999dd0"},"schema_version":"1.0"},"canonical_sha256":"c8423fb30ab592ddf57a317302efa1900b8e6c94ed62c65a6e913c143cc79df0","source":{"kind":"arxiv","id":"1303.5118","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1303.5118","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"arxiv_version","alias_value":"1303.5118v1","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1303.5118","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"pith_short_12","alias_value":"ZBBD7MYKWWJN","created_at":"2026-05-18T12:28:09Z"},{"alias_kind":"pith_short_16","alias_value":"ZBBD7MYKWWJN35L2","created_at":"2026-05-18T12:28:09Z"},{"alias_kind":"pith_short_8","alias_value":"ZBBD7MYK","created_at":"2026-05-18T12:28:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2013:ZBBD7MYKWWJN35L2GFZQF35BSA","target":"record","payload":{"canonical_record":{"source":{"id":"1303.5118","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-03-20T22:57:49Z","cross_cats_sorted":[],"title_canon_sha256":"5b7ebcf453f5a035107d220f7265fc8e4716a1587833b48deba9adfa6c953ebf","abstract_canon_sha256":"76c1657e809d932858365cf2c62c3015dc2343de988318a20b41f8ec12999dd0"},"schema_version":"1.0"},"canonical_sha256":"c8423fb30ab592ddf57a317302efa1900b8e6c94ed62c65a6e913c143cc79df0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:30:14.504668Z","signature_b64":"q1QG3sMgDMSpthXWVyFY2YBnbEKvsDR96o5gSkoYdNfLFcJZseVQWNYAvvxrrC0aNdmlFX7Ue/LhCZd2gAKnDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c8423fb30ab592ddf57a317302efa1900b8e6c94ed62c65a6e913c143cc79df0","last_reissued_at":"2026-05-18T03:30:14.503738Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:30:14.503738Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1303.5118","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":"2026-05-18T03:30:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0qseLCvi6mUPZ8UQvy3+89GzuAK8OAUbI+K8VHzxaU94yNcUZkYekty1qbzdfy7HRL4/fOxVohBhFZnsvRDODg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:33:06.602692Z"},"content_sha256":"141aa19443c7e439e886b87808582f919561daccbc18ec8293bdcdce49a58d6c","schema_version":"1.0","event_id":"sha256:141aa19443c7e439e886b87808582f919561daccbc18ec8293bdcdce49a58d6c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2013:ZBBD7MYKWWJN35L2GFZQF35BSA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Path following for a target point attached to a unicycle type vehicle","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"F. S. Ahmed, M. Harmouche, S. Laghrouche, Y. Chitour","submitted_at":"2013-03-20T22:57:49Z","abstract_excerpt":"In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1303.5118","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":"2026-05-18T03:30:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0cIc5v/ZjKfkvIkaT+/geVrld1qjZzsNOI1tjIfrOmzdAOsOcDEQKA8nQqn0Sf54KExf47pPjfImY2nEBf/eCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T18:33:06.603324Z"},"content_sha256":"26e1a63105c6cd128262784032bbd3df3a39e2c5ef1b2144483ad9ca5a28105a","schema_version":"1.0","event_id":"sha256:26e1a63105c6cd128262784032bbd3df3a39e2c5ef1b2144483ad9ca5a28105a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/bundle.json","state_url":"https://pith.science/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/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":"2026-06-06T18:33:06Z","links":{"resolver":"https://pith.science/pith/ZBBD7MYKWWJN35L2GFZQF35BSA","bundle":"https://pith.science/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/bundle.json","state":"https://pith.science/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZBBD7MYKWWJN35L2GFZQF35BSA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:ZBBD7MYKWWJN35L2GFZQF35BSA","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":"76c1657e809d932858365cf2c62c3015dc2343de988318a20b41f8ec12999dd0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-03-20T22:57:49Z","title_canon_sha256":"5b7ebcf453f5a035107d220f7265fc8e4716a1587833b48deba9adfa6c953ebf"},"schema_version":"1.0","source":{"id":"1303.5118","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1303.5118","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"arxiv_version","alias_value":"1303.5118v1","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1303.5118","created_at":"2026-05-18T03:30:14Z"},{"alias_kind":"pith_short_12","alias_value":"ZBBD7MYKWWJN","created_at":"2026-05-18T12:28:09Z"},{"alias_kind":"pith_short_16","alias_value":"ZBBD7MYKWWJN35L2","created_at":"2026-05-18T12:28:09Z"},{"alias_kind":"pith_short_8","alias_value":"ZBBD7MYK","created_at":"2026-05-18T12:28:09Z"}],"graph_snapshots":[{"event_id":"sha256:26e1a63105c6cd128262784032bbd3df3a39e2c5ef1b2144483ad9ca5a28105a","target":"graph","created_at":"2026-05-18T03:30:14Z","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 article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allows global stabilization without restrictions on initial conditions. The effectiveness of this controller is illustrated through simulations.","authors_text":"F. S. Ahmed, M. Harmouche, S. Laghrouche, Y. Chitour","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-03-20T22:57:49Z","title":"Path following for a target point attached to a unicycle type vehicle"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1303.5118","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":"sha256:141aa19443c7e439e886b87808582f919561daccbc18ec8293bdcdce49a58d6c","target":"record","created_at":"2026-05-18T03:30:14Z","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":"76c1657e809d932858365cf2c62c3015dc2343de988318a20b41f8ec12999dd0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-03-20T22:57:49Z","title_canon_sha256":"5b7ebcf453f5a035107d220f7265fc8e4716a1587833b48deba9adfa6c953ebf"},"schema_version":"1.0","source":{"id":"1303.5118","kind":"arxiv","version":1}},"canonical_sha256":"c8423fb30ab592ddf57a317302efa1900b8e6c94ed62c65a6e913c143cc79df0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c8423fb30ab592ddf57a317302efa1900b8e6c94ed62c65a6e913c143cc79df0","first_computed_at":"2026-05-18T03:30:14.503738Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:30:14.503738Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"q1QG3sMgDMSpthXWVyFY2YBnbEKvsDR96o5gSkoYdNfLFcJZseVQWNYAvvxrrC0aNdmlFX7Ue/LhCZd2gAKnDw==","signature_status":"signed_v1","signed_at":"2026-05-18T03:30:14.504668Z","signed_message":"canonical_sha256_bytes"},"source_id":"1303.5118","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:141aa19443c7e439e886b87808582f919561daccbc18ec8293bdcdce49a58d6c","sha256:26e1a63105c6cd128262784032bbd3df3a39e2c5ef1b2144483ad9ca5a28105a"],"state_sha256":"ccc156950214eaa97e4849bd3b1181c5e0a6d0d6a59e2a36f08dfedcb81447fd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"o4HNM18p0XYAhustoMUFQmEiDrEc/eueTaoA47aGBcZKUYI+72BRt6351BnPxEtiCmZXoTJylzEpCxc7TdMYBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T18:33:06.606099Z","bundle_sha256":"e738cccd180c41547e8fbf14daca7e89f39929d4ece934a5cf96718ff8aa0494"}}