{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ZHVZ447ZFUWABFT43FBUHR4QTI","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":"2d8ca5c02c2ef6a4951434f5fad1e8c0d4e11c1cd3f1dff3f721c59f5cbef0e8","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-09-28T18:45:16Z","title_canon_sha256":"b4d04f19986f27c313dd14cd564b974a1d6b7c892b24d6764e1600e000676cbf"},"schema_version":"1.0","source":{"id":"2209.14360","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.14360","created_at":"2026-07-05T05:01:52Z"},{"alias_kind":"arxiv_version","alias_value":"2209.14360v1","created_at":"2026-07-05T05:01:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.14360","created_at":"2026-07-05T05:01:52Z"},{"alias_kind":"pith_short_12","alias_value":"ZHVZ447ZFUWA","created_at":"2026-07-05T05:01:52Z"},{"alias_kind":"pith_short_16","alias_value":"ZHVZ447ZFUWABFT4","created_at":"2026-07-05T05:01:52Z"},{"alias_kind":"pith_short_8","alias_value":"ZHVZ447Z","created_at":"2026-07-05T05:01:52Z"}],"graph_snapshots":[{"event_id":"sha256:5db8cee87f5415ad9aa12dd9cdac29359f30aec52360a5869696b65b4cf357ed","target":"graph","created_at":"2026-07-05T05:01:52Z","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/2209.14360/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes a robust lattice-based motion-planning algorithm for nonlinear systems affected by a bounded disturbance. The proposed motion planner utilizes the nominal disturbance-free system model to generate motion primitives, which are associated with fixed-size tubes. These tubes are characterized through designing a feedback controller, that guarantees boundedness of the errors occurring due to mismatch between the disturbed nonlinear system and the nominal system. The motion planner then sequentially implements the tube-based motion primitives while solving an online graph-search ","authors_text":"Abhishek Dhar, Carl Hyn\\'en, Daniel Axehill, Johan L\\\"ofberg","cross_cats":["cs.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-09-28T18:45:16Z","title":"Robust Lattice-based Motion Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.14360","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":"sha256:5b34e8b5da249fbda6cce2ee73c0e6fa640dec14ec02edba5a632fd9562540fa","target":"record","created_at":"2026-07-05T05:01:52Z","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":"2d8ca5c02c2ef6a4951434f5fad1e8c0d4e11c1cd3f1dff3f721c59f5cbef0e8","cross_cats_sorted":["cs.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2022-09-28T18:45:16Z","title_canon_sha256":"b4d04f19986f27c313dd14cd564b974a1d6b7c892b24d6764e1600e000676cbf"},"schema_version":"1.0","source":{"id":"2209.14360","kind":"arxiv","version":1}},"canonical_sha256":"c9eb9e73f92d2c00967cd94343c7909a0a7862a3538d3ca7aa09c19b95fc05e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9eb9e73f92d2c00967cd94343c7909a0a7862a3538d3ca7aa09c19b95fc05e6","first_computed_at":"2026-07-05T05:01:52.064282Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:01:52.064282Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Zq75A8nO9q/8/7n/AmuYo+zrGdPfHFlchUsd1PjPMEhEXAvTh/JBVmqCG3gI6CsJ1u7dNgH6lcePpxitvdJkCw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:01:52.064822Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.14360","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5b34e8b5da249fbda6cce2ee73c0e6fa640dec14ec02edba5a632fd9562540fa","sha256:5db8cee87f5415ad9aa12dd9cdac29359f30aec52360a5869696b65b4cf357ed"],"state_sha256":"bf6211d6d7f9d170de50553ef485ae9aa7055cbc1c408a6c0eac25206cf680ac"}