{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:GKLZ64ZTS4ZPFEI6OGY4IMOQV5","short_pith_number":"pith:GKLZ64ZT","canonical_record":{"source":{"id":"1507.02780","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-10T04:59:04Z","cross_cats_sorted":[],"title_canon_sha256":"5421bad1daadf77788fcd6589de5d9c2aa0d3f5a7cdad81d058a194a79e45f98","abstract_canon_sha256":"aecc4f8f826b5f5dc5219da29c82a760d71e8311fb5caa1cc294e5cc7041b006"},"schema_version":"1.0"},"canonical_sha256":"32979f73339732f2911e71b1c431d0af65d7d47e585a480ff94ac9e3eef6a647","source":{"kind":"arxiv","id":"1507.02780","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1507.02780","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"arxiv_version","alias_value":"1507.02780v2","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1507.02780","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"pith_short_12","alias_value":"GKLZ64ZTS4ZP","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"GKLZ64ZTS4ZPFEI6","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"GKLZ64ZT","created_at":"2026-05-18T12:29:22Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:GKLZ64ZTS4ZPFEI6OGY4IMOQV5","target":"record","payload":{"canonical_record":{"source":{"id":"1507.02780","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-10T04:59:04Z","cross_cats_sorted":[],"title_canon_sha256":"5421bad1daadf77788fcd6589de5d9c2aa0d3f5a7cdad81d058a194a79e45f98","abstract_canon_sha256":"aecc4f8f826b5f5dc5219da29c82a760d71e8311fb5caa1cc294e5cc7041b006"},"schema_version":"1.0"},"canonical_sha256":"32979f73339732f2911e71b1c431d0af65d7d47e585a480ff94ac9e3eef6a647","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:59:33.506745Z","signature_b64":"hk2Gf5l9HmzrqMypvt+qiD/iDWcnVKIXenoQ0LILhTogbvIqu8g1AhCQSsa+FpRNtJyoWWgPE/jA5U/rBvdQDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"32979f73339732f2911e71b1c431d0af65d7d47e585a480ff94ac9e3eef6a647","last_reissued_at":"2026-05-17T23:59:33.506039Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:59:33.506039Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1507.02780","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:59:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J9ui8KxHdpIU1IhMZ2Zf6tYDe/ISTiwfIU3h9gUcuPJS1rUZn8A3mXFvQpMMvT8RRlmvEwD/MWwCkASmyqTFCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T12:00:26.929326Z"},"content_sha256":"09337c6496a48725b5fc8bb27a59c4035676474274e46ac0cbf165faca44f172","schema_version":"1.0","event_id":"sha256:09337c6496a48725b5fc8bb27a59c4035676474274e46ac0cbf165faca44f172"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:GKLZ64ZTS4ZPFEI6OGY4IMOQV5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Nonlinear stochastic receding horizon control: stability, robustness and Monte Carlo methods for control approximation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Adrian N. Bishop, Francesco Bertoli","submitted_at":"2015-07-10T04:59:04Z","abstract_excerpt":"This work considers the stability of nonlinear stochastic receding horizon control when the optimal controller is only computed approximately. A number of general classes of controller approximation error are analysed including deterministic and probabilistic errors and even controller sample and hold errors. In each case, it is shown that the controller approximation errors do not accumulate (even over an infinite time frame) and the process converges exponentially fast to a small neighbourhood of the origin. In addition to this analysis, an approximation method for receding horizon optimal c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1507.02780","kind":"arxiv","version":2},"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":"2026-05-17T23:59:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T8CCF6KI1Fao7q1TCg6yJs7/bau+fyh4ykQeR5Rq6BaqlfTWcdJztJqlugXMFCpK3+Q7CovooRGzsZ6FCxnjAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-29T12:00:26.929675Z"},"content_sha256":"17e3605e0ea7a21f889ca8b07fb28ca209930a9ce52f27e4bb2d4d09dadf243d","schema_version":"1.0","event_id":"sha256:17e3605e0ea7a21f889ca8b07fb28ca209930a9ce52f27e4bb2d4d09dadf243d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/bundle.json","state_url":"https://pith.science/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/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":"2026-06-29T12:00:26Z","links":{"resolver":"https://pith.science/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5","bundle":"https://pith.science/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/bundle.json","state":"https://pith.science/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GKLZ64ZTS4ZPFEI6OGY4IMOQV5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:GKLZ64ZTS4ZPFEI6OGY4IMOQV5","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":"aecc4f8f826b5f5dc5219da29c82a760d71e8311fb5caa1cc294e5cc7041b006","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-10T04:59:04Z","title_canon_sha256":"5421bad1daadf77788fcd6589de5d9c2aa0d3f5a7cdad81d058a194a79e45f98"},"schema_version":"1.0","source":{"id":"1507.02780","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1507.02780","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"arxiv_version","alias_value":"1507.02780v2","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1507.02780","created_at":"2026-05-17T23:59:33Z"},{"alias_kind":"pith_short_12","alias_value":"GKLZ64ZTS4ZP","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_16","alias_value":"GKLZ64ZTS4ZPFEI6","created_at":"2026-05-18T12:29:22Z"},{"alias_kind":"pith_short_8","alias_value":"GKLZ64ZT","created_at":"2026-05-18T12:29:22Z"}],"graph_snapshots":[{"event_id":"sha256:17e3605e0ea7a21f889ca8b07fb28ca209930a9ce52f27e4bb2d4d09dadf243d","target":"graph","created_at":"2026-05-17T23:59:33Z","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 considers the stability of nonlinear stochastic receding horizon control when the optimal controller is only computed approximately. A number of general classes of controller approximation error are analysed including deterministic and probabilistic errors and even controller sample and hold errors. In each case, it is shown that the controller approximation errors do not accumulate (even over an infinite time frame) and the process converges exponentially fast to a small neighbourhood of the origin. In addition to this analysis, an approximation method for receding horizon optimal c","authors_text":"Adrian N. Bishop, Francesco Bertoli","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-10T04:59:04Z","title":"Nonlinear stochastic receding horizon control: stability, robustness and Monte Carlo methods for control approximation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1507.02780","kind":"arxiv","version":2},"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":"sha256:09337c6496a48725b5fc8bb27a59c4035676474274e46ac0cbf165faca44f172","target":"record","created_at":"2026-05-17T23:59:33Z","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":"aecc4f8f826b5f5dc5219da29c82a760d71e8311fb5caa1cc294e5cc7041b006","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-07-10T04:59:04Z","title_canon_sha256":"5421bad1daadf77788fcd6589de5d9c2aa0d3f5a7cdad81d058a194a79e45f98"},"schema_version":"1.0","source":{"id":"1507.02780","kind":"arxiv","version":2}},"canonical_sha256":"32979f73339732f2911e71b1c431d0af65d7d47e585a480ff94ac9e3eef6a647","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32979f73339732f2911e71b1c431d0af65d7d47e585a480ff94ac9e3eef6a647","first_computed_at":"2026-05-17T23:59:33.506039Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:59:33.506039Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hk2Gf5l9HmzrqMypvt+qiD/iDWcnVKIXenoQ0LILhTogbvIqu8g1AhCQSsa+FpRNtJyoWWgPE/jA5U/rBvdQDA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:59:33.506745Z","signed_message":"canonical_sha256_bytes"},"source_id":"1507.02780","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:09337c6496a48725b5fc8bb27a59c4035676474274e46ac0cbf165faca44f172","sha256:17e3605e0ea7a21f889ca8b07fb28ca209930a9ce52f27e4bb2d4d09dadf243d"],"state_sha256":"9d15db716d4d14bb0252e1b44deb1a212a9eddc8f3265722ef5e4531e11bc877"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C/mSK4y153cQWPf8ZDfRX/8APZL2wxth7kHM5uc+haCdWfVufjDM+U4WX8HppARXuJH4ZE+Zq5GRtHb+jGd2Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-29T12:00:26.931631Z","bundle_sha256":"27259a63952c87db332980fbed5750e0e841e7a630251c659188d27c0b42819b"}}