{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:KP5X5OP4CKHEXTOLCWZS7Z2OC4","short_pith_number":"pith:KP5X5OP4","canonical_record":{"source":{"id":"1206.0359","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.AO","submitted_at":"2012-06-02T10:22:44Z","cross_cats_sorted":[],"title_canon_sha256":"d8f1a148faf90744c7222d97c5c03f93c65c5210619bf721fa6c14af227bf488","abstract_canon_sha256":"c61d1a3fcf1a5de30da9288848354843a9a0599bda8a959885a78a8e81287bea"},"schema_version":"1.0"},"canonical_sha256":"53fb7eb9fc128e4bcdcb15b32fe74e1726e1f6af8577af2d529b030df7a282ee","source":{"kind":"arxiv","id":"1206.0359","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1206.0359","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"arxiv_version","alias_value":"1206.0359v1","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1206.0359","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"pith_short_12","alias_value":"KP5X5OP4CKHE","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_16","alias_value":"KP5X5OP4CKHEXTOL","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_8","alias_value":"KP5X5OP4","created_at":"2026-05-18T12:27:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:KP5X5OP4CKHEXTOLCWZS7Z2OC4","target":"record","payload":{"canonical_record":{"source":{"id":"1206.0359","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.AO","submitted_at":"2012-06-02T10:22:44Z","cross_cats_sorted":[],"title_canon_sha256":"d8f1a148faf90744c7222d97c5c03f93c65c5210619bf721fa6c14af227bf488","abstract_canon_sha256":"c61d1a3fcf1a5de30da9288848354843a9a0599bda8a959885a78a8e81287bea"},"schema_version":"1.0"},"canonical_sha256":"53fb7eb9fc128e4bcdcb15b32fe74e1726e1f6af8577af2d529b030df7a282ee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:54:25.166570Z","signature_b64":"GiFgWe+bzpl8lk0seSziLJ+72qrDDq2CG56ni6/RyQO7QMAPCO9GO8+vnYLDWMRkaGtQI2y5M14E3TJDsDAcCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"53fb7eb9fc128e4bcdcb15b32fe74e1726e1f6af8577af2d529b030df7a282ee","last_reissued_at":"2026-05-18T03:54:25.166155Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:54:25.166155Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1206.0359","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":"2026-05-18T03:54:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FhSe3n5abUmLnXhVmF4a6jkAPua2hP6KClEmTeK3BK/xHEyXc1eNSx7NvHDBhMzsv2LTAcRnHoiXg+b9vOUQDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T14:13:46.922953Z"},"content_sha256":"b10b3eea543f30770d2165b75efae7f5e70a6e3041aa4eb50c9ed874aee018cd","schema_version":"1.0","event_id":"sha256:b10b3eea543f30770d2165b75efae7f5e70a6e3041aa4eb50c9ed874aee018cd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:KP5X5OP4CKHEXTOLCWZS7Z2OC4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Low Speed Control of an Autonomous Vehicle Using a Hybrid Fractional Order Controller","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"nlin.AO","authors_text":"Blas M. Vinagre, Ines Tejado, Jorge Villagra, S. Hassan HosseinNia, Vicente Milanes","submitted_at":"2012-06-02T10:22:44Z","abstract_excerpt":"Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. In this paper, based on a previous fractional order speed control, an improved fractional order control is presented to control a commercial Citro\\\"en C3 prototype -which has automatic driving capabilities- at low speeds, which considers a hybrid model of the vehicle. Specifically, two different fractional order PI{\\alpha} controllers are designed to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1206.0359","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":"2026-05-18T03:54:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WVJJlz5Ls3c+Q3kGdn0xQyhPjeaGir8TtlSInukvBOXorAhs9tE/kSQXBvdzM7rQX7QhL1lqqAITBCRvo6htAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T14:13:46.923293Z"},"content_sha256":"e03c6bfdc7847e40ed4def2d4600b0a92846f4efb2d5286daff8eac09c078e96","schema_version":"1.0","event_id":"sha256:e03c6bfdc7847e40ed4def2d4600b0a92846f4efb2d5286daff8eac09c078e96"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/bundle.json","state_url":"https://pith.science/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/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":"2026-07-01T14:13:46Z","links":{"resolver":"https://pith.science/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4","bundle":"https://pith.science/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/bundle.json","state":"https://pith.science/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KP5X5OP4CKHEXTOLCWZS7Z2OC4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:KP5X5OP4CKHEXTOLCWZS7Z2OC4","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":"c61d1a3fcf1a5de30da9288848354843a9a0599bda8a959885a78a8e81287bea","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.AO","submitted_at":"2012-06-02T10:22:44Z","title_canon_sha256":"d8f1a148faf90744c7222d97c5c03f93c65c5210619bf721fa6c14af227bf488"},"schema_version":"1.0","source":{"id":"1206.0359","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1206.0359","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"arxiv_version","alias_value":"1206.0359v1","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1206.0359","created_at":"2026-05-18T03:54:25Z"},{"alias_kind":"pith_short_12","alias_value":"KP5X5OP4CKHE","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_16","alias_value":"KP5X5OP4CKHEXTOL","created_at":"2026-05-18T12:27:11Z"},{"alias_kind":"pith_short_8","alias_value":"KP5X5OP4","created_at":"2026-05-18T12:27:11Z"}],"graph_snapshots":[{"event_id":"sha256:e03c6bfdc7847e40ed4def2d4600b0a92846f4efb2d5286daff8eac09c078e96","target":"graph","created_at":"2026-05-18T03:54:25Z","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":"Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. In this paper, based on a previous fractional order speed control, an improved fractional order control is presented to control a commercial Citro\\\"en C3 prototype -which has automatic driving capabilities- at low speeds, which considers a hybrid model of the vehicle. Specifically, two different fractional order PI{\\alpha} controllers are designed to","authors_text":"Blas M. Vinagre, Ines Tejado, Jorge Villagra, S. Hassan HosseinNia, Vicente Milanes","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.AO","submitted_at":"2012-06-02T10:22:44Z","title":"Low Speed Control of an Autonomous Vehicle Using a Hybrid Fractional Order Controller"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1206.0359","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:b10b3eea543f30770d2165b75efae7f5e70a6e3041aa4eb50c9ed874aee018cd","target":"record","created_at":"2026-05-18T03:54:25Z","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":"c61d1a3fcf1a5de30da9288848354843a9a0599bda8a959885a78a8e81287bea","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"nlin.AO","submitted_at":"2012-06-02T10:22:44Z","title_canon_sha256":"d8f1a148faf90744c7222d97c5c03f93c65c5210619bf721fa6c14af227bf488"},"schema_version":"1.0","source":{"id":"1206.0359","kind":"arxiv","version":1}},"canonical_sha256":"53fb7eb9fc128e4bcdcb15b32fe74e1726e1f6af8577af2d529b030df7a282ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"53fb7eb9fc128e4bcdcb15b32fe74e1726e1f6af8577af2d529b030df7a282ee","first_computed_at":"2026-05-18T03:54:25.166155Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:54:25.166155Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GiFgWe+bzpl8lk0seSziLJ+72qrDDq2CG56ni6/RyQO7QMAPCO9GO8+vnYLDWMRkaGtQI2y5M14E3TJDsDAcCA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:54:25.166570Z","signed_message":"canonical_sha256_bytes"},"source_id":"1206.0359","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b10b3eea543f30770d2165b75efae7f5e70a6e3041aa4eb50c9ed874aee018cd","sha256:e03c6bfdc7847e40ed4def2d4600b0a92846f4efb2d5286daff8eac09c078e96"],"state_sha256":"b9916f8a18013e39db67604eb26b92af14027bbfe6b0f6015614ebb269c20b81"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XxGe4Q9JerOvBeHkkcrs4QQBwuXrLM7relRDU2cZJ6Xk8Mae+06Mf6fu24QdiSUtv3tPhEOVNK/K87G4UdTEBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-01T14:13:46.925251Z","bundle_sha256":"1428e892bccf1da026f4adf07787e42867596274e3be5e1f48074cf36524b471"}}