{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:I5IWHBKCCIDWWZZUZ2K5PAL63U","short_pith_number":"pith:I5IWHBKC","canonical_record":{"source":{"id":"2406.19838","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-06-28T11:25:00Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"490113e9ce0b352ff97eadad6a00689681305c4d128bb869e253bf33283cdc51","abstract_canon_sha256":"d4fa94d2a47907a26de6663d24cf2dbb2c807a66bc92d2d2a589586f6382317a"},"schema_version":"1.0"},"canonical_sha256":"475163854212076b6734ce95d7817edd156393c8179106dd1f4d3f852b93271c","source":{"kind":"arxiv","id":"2406.19838","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.19838","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"arxiv_version","alias_value":"2406.19838v1","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.19838","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_12","alias_value":"I5IWHBKCCIDW","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_16","alias_value":"I5IWHBKCCIDWWZZU","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_8","alias_value":"I5IWHBKC","created_at":"2026-07-05T08:37:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:I5IWHBKCCIDWWZZUZ2K5PAL63U","target":"record","payload":{"canonical_record":{"source":{"id":"2406.19838","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-06-28T11:25:00Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"490113e9ce0b352ff97eadad6a00689681305c4d128bb869e253bf33283cdc51","abstract_canon_sha256":"d4fa94d2a47907a26de6663d24cf2dbb2c807a66bc92d2d2a589586f6382317a"},"schema_version":"1.0"},"canonical_sha256":"475163854212076b6734ce95d7817edd156393c8179106dd1f4d3f852b93271c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:37:55.751112Z","signature_b64":"RP89dN5+oIrvgFKY8ihLu1RbHMEej2ZTcjO8oewSAO9F/c/idjvXE3Zy+VJJV15XvmR+M38k98GHiTH0Yd81AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"475163854212076b6734ce95d7817edd156393c8179106dd1f4d3f852b93271c","last_reissued_at":"2026-07-05T08:37:55.750699Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:37:55.750699Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.19838","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":"2026-07-05T08:37:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4QaWazwMKhtKOxHnvcwZ8wqmlO9PHv3Gv7PYWohGbChl194WljBd9hrLRn4OKy5gRov22+Na2eTdKzkEO1VSBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T19:32:24.637792Z"},"content_sha256":"3519bfb7d2dc0040a70a22102b7969cc4b6111d238b19531239b67ac6691fb4f","schema_version":"1.0","event_id":"sha256:3519bfb7d2dc0040a70a22102b7969cc4b6111d238b19531239b67ac6691fb4f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:I5IWHBKCCIDWWZZUZ2K5PAL63U","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Composite Adaptive Disturbance Rejection in Robotics via Instrumental Variables based DREM","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Anton Glushchenko, Konstantin Lastochkin","submitted_at":"2024-06-28T11:25:00Z","abstract_excerpt":"In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric error convergence being desirable to enhance overall stability and robustness of a closed-loop system. At the same time, existing composite approaches cannot simultaneously relax stringent persistence of excitation requirement and guarantee convergence of parametric error to zero for a perturbed scenario. So, a new composite adaptation scheme is proposed, w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.19838","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2406.19838/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T08:37:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7XlNafQIkFW9gn6S+mn0ceGN1XDfnrqGyriQQxwbl79poR3pteXF7msGDJsCSnK83lPYGTC2Djr26Ls/fg7TAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T19:32:24.638136Z"},"content_sha256":"a76f17254bc6eec150263fa5760d30c890efaceaef2ac4a55bf8516fbdc31c3a","schema_version":"1.0","event_id":"sha256:a76f17254bc6eec150263fa5760d30c890efaceaef2ac4a55bf8516fbdc31c3a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/bundle.json","state_url":"https://pith.science/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/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":"2026-08-19T19:32:24Z","links":{"resolver":"https://pith.science/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U","bundle":"https://pith.science/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/bundle.json","state":"https://pith.science/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/state.json","well_known_bundle":"https://pith.science/.well-known/pith/I5IWHBKCCIDWWZZUZ2K5PAL63U/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:I5IWHBKCCIDWWZZUZ2K5PAL63U","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":"d4fa94d2a47907a26de6663d24cf2dbb2c807a66bc92d2d2a589586f6382317a","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-06-28T11:25:00Z","title_canon_sha256":"490113e9ce0b352ff97eadad6a00689681305c4d128bb869e253bf33283cdc51"},"schema_version":"1.0","source":{"id":"2406.19838","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.19838","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"arxiv_version","alias_value":"2406.19838v1","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.19838","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_12","alias_value":"I5IWHBKCCIDW","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_16","alias_value":"I5IWHBKCCIDWWZZU","created_at":"2026-07-05T08:37:55Z"},{"alias_kind":"pith_short_8","alias_value":"I5IWHBKC","created_at":"2026-07-05T08:37:55Z"}],"graph_snapshots":[{"event_id":"sha256:a76f17254bc6eec150263fa5760d30c890efaceaef2ac4a55bf8516fbdc31c3a","target":"graph","created_at":"2026-07-05T08:37:55Z","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/2406.19838/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric error convergence being desirable to enhance overall stability and robustness of a closed-loop system. At the same time, existing composite approaches cannot simultaneously relax stringent persistence of excitation requirement and guarantee convergence of parametric error to zero for a perturbed scenario. So, a new composite adaptation scheme is proposed, w","authors_text":"Anton Glushchenko, Konstantin Lastochkin","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-06-28T11:25:00Z","title":"Composite Adaptive Disturbance Rejection in Robotics via Instrumental Variables based DREM"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.19838","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":"sha256:3519bfb7d2dc0040a70a22102b7969cc4b6111d238b19531239b67ac6691fb4f","target":"record","created_at":"2026-07-05T08:37:55Z","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":"d4fa94d2a47907a26de6663d24cf2dbb2c807a66bc92d2d2a589586f6382317a","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-06-28T11:25:00Z","title_canon_sha256":"490113e9ce0b352ff97eadad6a00689681305c4d128bb869e253bf33283cdc51"},"schema_version":"1.0","source":{"id":"2406.19838","kind":"arxiv","version":1}},"canonical_sha256":"475163854212076b6734ce95d7817edd156393c8179106dd1f4d3f852b93271c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"475163854212076b6734ce95d7817edd156393c8179106dd1f4d3f852b93271c","first_computed_at":"2026-07-05T08:37:55.750699Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:37:55.750699Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RP89dN5+oIrvgFKY8ihLu1RbHMEej2ZTcjO8oewSAO9F/c/idjvXE3Zy+VJJV15XvmR+M38k98GHiTH0Yd81AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:37:55.751112Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.19838","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3519bfb7d2dc0040a70a22102b7969cc4b6111d238b19531239b67ac6691fb4f","sha256:a76f17254bc6eec150263fa5760d30c890efaceaef2ac4a55bf8516fbdc31c3a"],"state_sha256":"48fdf0caee44aadfb2e50de5c4c8b228da6003e9c30c778ca7531a52109e180e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bv5o6XVF3SmDCQ87+4NiJcxWFyf//T7FXxRG99kO3FU6sESAjSkjJ+pYBPc6+4Bth4ZIUOwVp7JETvrW/egpAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T19:32:24.641301Z","bundle_sha256":"c073ebf4ab3b253e6755cd7a57d2363f64c40d26c87874636175dc0b5c4899a5"}}