{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:74RS2UZAMOK2FB3FTXAHQEXWV2","short_pith_number":"pith:74RS2UZA","canonical_record":{"source":{"id":"1809.06002","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-09-17T02:59:11Z","cross_cats_sorted":[],"title_canon_sha256":"be28cd652e4beba023184c996b155e5037d769e39be412571a8dc776c9ac4648","abstract_canon_sha256":"244316e1c869eb7daaef7ce1a84b132b76418b36bf8b7d0019a7ea5513e3a94d"},"schema_version":"1.0"},"canonical_sha256":"ff232d53206395a287659dc07812f6aea66641b1b89b07d36d7c97ce09d702f6","source":{"kind":"arxiv","id":"1809.06002","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06002","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06002v1","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06002","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"pith_short_12","alias_value":"74RS2UZAMOK2","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"74RS2UZAMOK2FB3F","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"74RS2UZA","created_at":"2026-05-18T12:32:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:74RS2UZAMOK2FB3FTXAHQEXWV2","target":"record","payload":{"canonical_record":{"source":{"id":"1809.06002","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-09-17T02:59:11Z","cross_cats_sorted":[],"title_canon_sha256":"be28cd652e4beba023184c996b155e5037d769e39be412571a8dc776c9ac4648","abstract_canon_sha256":"244316e1c869eb7daaef7ce1a84b132b76418b36bf8b7d0019a7ea5513e3a94d"},"schema_version":"1.0"},"canonical_sha256":"ff232d53206395a287659dc07812f6aea66641b1b89b07d36d7c97ce09d702f6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:05:35.894211Z","signature_b64":"lQrXSeXy+7mKXfZlxlEo8MI8fF7SAAkjIxt+mjOFMkkwB5fmsrAi5wTGASBCyuSAn5lb4JfpQifmf215vQ96Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ff232d53206395a287659dc07812f6aea66641b1b89b07d36d7c97ce09d702f6","last_reissued_at":"2026-05-18T00:05:35.893645Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:05:35.893645Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1809.06002","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":"2026-05-18T00:05:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xjocNZoFrYJUZOcBu6H2CQ3/2jvK6i8c3hoel0O6pa9AcQ15PPzKr5tgdHetvnP8BwHPOelL7qzg7WT5S4BkAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T11:20:27.488088Z"},"content_sha256":"392139f137d6126edd6f58170a4c986519ccc83d24249323db618b1c4d3d0f73","schema_version":"1.0","event_id":"sha256:392139f137d6126edd6f58170a4c986519ccc83d24249323db618b1c4d3d0f73"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:74RS2UZAMOK2FB3FTXAHQEXWV2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"General formation control for multi-agent systems with double-integrator dynamics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Chen Wang, Guangming Xie, Jinan Sun, Ruifeng Fan, Weiguo Xia","submitted_at":"2018-09-17T02:59:11Z","abstract_excerpt":"We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations that the distances between neighboring agents or the distances from each agent to the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors. A distributed control law is designed using the limit-cy"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06002","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":"2026-05-18T00:05:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Hmfx1zGM4qZsux5VxqgGX5mg0OMnnTwfVTSvrvvK5E0f3ZaPCC9YQnD8dVtD///7SU9mqL+NcbqVyZDxqbiCCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-26T11:20:27.488445Z"},"content_sha256":"9ec37823d07c3c9daf5e938f87ecbc8becc166202130d07e2ecbda885232100d","schema_version":"1.0","event_id":"sha256:9ec37823d07c3c9daf5e938f87ecbc8becc166202130d07e2ecbda885232100d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/bundle.json","state_url":"https://pith.science/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/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":"2026-06-26T11:20:27Z","links":{"resolver":"https://pith.science/pith/74RS2UZAMOK2FB3FTXAHQEXWV2","bundle":"https://pith.science/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/bundle.json","state":"https://pith.science/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/74RS2UZAMOK2FB3FTXAHQEXWV2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:74RS2UZAMOK2FB3FTXAHQEXWV2","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":"244316e1c869eb7daaef7ce1a84b132b76418b36bf8b7d0019a7ea5513e3a94d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-09-17T02:59:11Z","title_canon_sha256":"be28cd652e4beba023184c996b155e5037d769e39be412571a8dc776c9ac4648"},"schema_version":"1.0","source":{"id":"1809.06002","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1809.06002","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"arxiv_version","alias_value":"1809.06002v1","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1809.06002","created_at":"2026-05-18T00:05:35Z"},{"alias_kind":"pith_short_12","alias_value":"74RS2UZAMOK2","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_16","alias_value":"74RS2UZAMOK2FB3F","created_at":"2026-05-18T12:32:11Z"},{"alias_kind":"pith_short_8","alias_value":"74RS2UZA","created_at":"2026-05-18T12:32:11Z"}],"graph_snapshots":[{"event_id":"sha256:9ec37823d07c3c9daf5e938f87ecbc8becc166202130d07e2ecbda885232100d","target":"graph","created_at":"2026-05-18T00:05:35Z","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":"We study the general formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations that the distances between neighboring agents or the distances from each agent to the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors. A distributed control law is designed using the limit-cy","authors_text":"Chen Wang, Guangming Xie, Jinan Sun, Ruifeng Fan, Weiguo Xia","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-09-17T02:59:11Z","title":"General formation control for multi-agent systems with double-integrator dynamics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.06002","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":"sha256:392139f137d6126edd6f58170a4c986519ccc83d24249323db618b1c4d3d0f73","target":"record","created_at":"2026-05-18T00:05:35Z","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":"244316e1c869eb7daaef7ce1a84b132b76418b36bf8b7d0019a7ea5513e3a94d","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-09-17T02:59:11Z","title_canon_sha256":"be28cd652e4beba023184c996b155e5037d769e39be412571a8dc776c9ac4648"},"schema_version":"1.0","source":{"id":"1809.06002","kind":"arxiv","version":1}},"canonical_sha256":"ff232d53206395a287659dc07812f6aea66641b1b89b07d36d7c97ce09d702f6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ff232d53206395a287659dc07812f6aea66641b1b89b07d36d7c97ce09d702f6","first_computed_at":"2026-05-18T00:05:35.893645Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:05:35.893645Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lQrXSeXy+7mKXfZlxlEo8MI8fF7SAAkjIxt+mjOFMkkwB5fmsrAi5wTGASBCyuSAn5lb4JfpQifmf215vQ96Dw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:05:35.894211Z","signed_message":"canonical_sha256_bytes"},"source_id":"1809.06002","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:392139f137d6126edd6f58170a4c986519ccc83d24249323db618b1c4d3d0f73","sha256:9ec37823d07c3c9daf5e938f87ecbc8becc166202130d07e2ecbda885232100d"],"state_sha256":"40e8cbb1eb059d1e530c905f398c36a10a2d63ee11238b8fd3940b3605d3e3f1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T08iURZFhpGxYXm5hpXjZpGuvLVf+pd4f2bnkHKrre9t4WZv3SZztKuqNxt/sDWSIBw+g3wFhF7VYsbmqO1JAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-26T11:20:27.490362Z","bundle_sha256":"1eba1daee73d12c9531a9e160c0b1959daf1152c9d67d2dd110e2b2743f350e6"}}