{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:TBFEBISOJ55OYKVXSBFD7FDIOS","short_pith_number":"pith:TBFEBISO","canonical_record":{"source":{"id":"1709.04940","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-14T18:25:55Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2fc0d085d18827d3db84e6509d3fc79e2413918fceed3acc462a09ff67d5f99d","abstract_canon_sha256":"ccdefda0973dfb016ba62e87ca5ed586403b9c555e1623f451261a5fd3f8ef11"},"schema_version":"1.0"},"canonical_sha256":"984a40a24e4f7aec2ab7904a3f946874b67f960aec05b98c8f75ff943bfeaf91","source":{"kind":"arxiv","id":"1709.04940","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.04940","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"arxiv_version","alias_value":"1709.04940v2","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.04940","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"pith_short_12","alias_value":"TBFEBISOJ55O","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"TBFEBISOJ55OYKVX","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"TBFEBISO","created_at":"2026-05-18T12:31:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:TBFEBISOJ55OYKVXSBFD7FDIOS","target":"record","payload":{"canonical_record":{"source":{"id":"1709.04940","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-14T18:25:55Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2fc0d085d18827d3db84e6509d3fc79e2413918fceed3acc462a09ff67d5f99d","abstract_canon_sha256":"ccdefda0973dfb016ba62e87ca5ed586403b9c555e1623f451261a5fd3f8ef11"},"schema_version":"1.0"},"canonical_sha256":"984a40a24e4f7aec2ab7904a3f946874b67f960aec05b98c8f75ff943bfeaf91","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:13:19.615361Z","signature_b64":"xqWqRJFZdxqZFMFIaywsGOQdPwmdQfiAgs59SR2xfYYIVxjSXdjhYYEeQhZzs5uJSjBQ/j1P8kl+fwQhpVdXBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"984a40a24e4f7aec2ab7904a3f946874b67f960aec05b98c8f75ff943bfeaf91","last_reissued_at":"2026-05-18T00:13:19.614823Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:13:19.614823Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1709.04940","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":"2026-05-18T00:13:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e0HCM/h/7JcpHcZcNg2PkdxZSTuUzm9wUMl6H0gPUBiE7HoBBn4PJ5shsU51aDJDJEiLdk9OAqAgloWXNvPbAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T02:16:31.468251Z"},"content_sha256":"ff8e6eee4f8927dbb3ee8ad909f384a7039b3a8ba49495b20798cece448b21cb","schema_version":"1.0","event_id":"sha256:ff8e6eee4f8927dbb3ee8ad909f384a7039b3a8ba49495b20798cece448b21cb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:TBFEBISOJ55OYKVXSBFD7FDIOS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"George C. Karras, Kostas J. Kyriakopoulos, Panos Marantos, Shahab Heshmati-Alamdari","submitted_at":"2017-09-14T18:25:55Z","abstract_excerpt":"This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, workspace boundary, thruster saturation and predefined desired upper bound of the vehicle velocity are captured as state and input constraints and are guaranteed during the control design. The proposed scheme incorporates the full dynamics of the vehicle in which the ocean currents are also involved. H"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.04940","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":"2026-05-18T00:13:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"89vye4tuOfLnkCIfCiLDRui+WrND0qo9GehDSxHbl17Q92uHtC6biI4u5swIJCsaAHl0bGkWM6LNdyf6HtEwDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T02:16:31.468886Z"},"content_sha256":"9682c47fbcbd6af5d62cf624c4bb3079136be1860b772e73836f3ee6fa757fe4","schema_version":"1.0","event_id":"sha256:9682c47fbcbd6af5d62cf624c4bb3079136be1860b772e73836f3ee6fa757fe4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/bundle.json","state_url":"https://pith.science/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/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":"2026-07-07T02:16:31Z","links":{"resolver":"https://pith.science/pith/TBFEBISOJ55OYKVXSBFD7FDIOS","bundle":"https://pith.science/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/bundle.json","state":"https://pith.science/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TBFEBISOJ55OYKVXSBFD7FDIOS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:TBFEBISOJ55OYKVXSBFD7FDIOS","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":"ccdefda0973dfb016ba62e87ca5ed586403b9c555e1623f451261a5fd3f8ef11","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-14T18:25:55Z","title_canon_sha256":"2fc0d085d18827d3db84e6509d3fc79e2413918fceed3acc462a09ff67d5f99d"},"schema_version":"1.0","source":{"id":"1709.04940","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.04940","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"arxiv_version","alias_value":"1709.04940v2","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.04940","created_at":"2026-05-18T00:13:19Z"},{"alias_kind":"pith_short_12","alias_value":"TBFEBISOJ55O","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"TBFEBISOJ55OYKVX","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"TBFEBISO","created_at":"2026-05-18T12:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:9682c47fbcbd6af5d62cf624c4bb3079136be1860b772e73836f3ee6fa757fe4","target":"graph","created_at":"2026-05-18T00:13:19Z","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 paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards specific way points. Various limitations such as: obstacles, workspace boundary, thruster saturation and predefined desired upper bound of the vehicle velocity are captured as state and input constraints and are guaranteed during the control design. The proposed scheme incorporates the full dynamics of the vehicle in which the ocean currents are also involved. H","authors_text":"George C. Karras, Kostas J. Kyriakopoulos, Panos Marantos, Shahab Heshmati-Alamdari","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-14T18:25:55Z","title":"A Robust Model Predictive Control Approach for Autonomous Underwater Vehicles Operating in a Constrained workspace"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.04940","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:ff8e6eee4f8927dbb3ee8ad909f384a7039b3a8ba49495b20798cece448b21cb","target":"record","created_at":"2026-05-18T00:13:19Z","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":"ccdefda0973dfb016ba62e87ca5ed586403b9c555e1623f451261a5fd3f8ef11","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-14T18:25:55Z","title_canon_sha256":"2fc0d085d18827d3db84e6509d3fc79e2413918fceed3acc462a09ff67d5f99d"},"schema_version":"1.0","source":{"id":"1709.04940","kind":"arxiv","version":2}},"canonical_sha256":"984a40a24e4f7aec2ab7904a3f946874b67f960aec05b98c8f75ff943bfeaf91","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"984a40a24e4f7aec2ab7904a3f946874b67f960aec05b98c8f75ff943bfeaf91","first_computed_at":"2026-05-18T00:13:19.614823Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:13:19.614823Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xqWqRJFZdxqZFMFIaywsGOQdPwmdQfiAgs59SR2xfYYIVxjSXdjhYYEeQhZzs5uJSjBQ/j1P8kl+fwQhpVdXBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:13:19.615361Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.04940","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ff8e6eee4f8927dbb3ee8ad909f384a7039b3a8ba49495b20798cece448b21cb","sha256:9682c47fbcbd6af5d62cf624c4bb3079136be1860b772e73836f3ee6fa757fe4"],"state_sha256":"dc209a7679a3ddcb67fb94f50292550386722ea94eeea22ec882b8fb932c416e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KzIFyA6+Ei+5nae6mZWYu5/524/Vwrv4T1F02bpHQhBnRlkCY4S3mhERViuEaiRSCQf0iLjvIK1wbM7slCYxAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T02:16:31.472890Z","bundle_sha256":"6cb2c21f034a3e2d85dcee753b96b9e24b8a8757631d7be16aa611c63b0134dd"}}