{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:OUY5F2ODPCPIGSIH3VFAY5XEFT","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":"62e7afdf5841112630aec4ee78965e7ebba26eb8c65f204570bc6b1533753fe5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-04-14T12:33:48Z","title_canon_sha256":"184131abbefebb04e0693631e5be43c3037c09844a7bc0116dd765c9eb44c04b"},"schema_version":"1.0","source":{"id":"1504.03517","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1504.03517","created_at":"2026-05-18T01:35:59Z"},{"alias_kind":"arxiv_version","alias_value":"1504.03517v2","created_at":"2026-05-18T01:35:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1504.03517","created_at":"2026-05-18T01:35:59Z"},{"alias_kind":"pith_short_12","alias_value":"OUY5F2ODPCPI","created_at":"2026-05-18T12:29:34Z"},{"alias_kind":"pith_short_16","alias_value":"OUY5F2ODPCPIGSIH","created_at":"2026-05-18T12:29:34Z"},{"alias_kind":"pith_short_8","alias_value":"OUY5F2OD","created_at":"2026-05-18T12:29:34Z"}],"graph_snapshots":[{"event_id":"sha256:8a20b9fe9197dac2899860e7c3ea8d01aff0520e0e3b7e0b2c7a756702675fdd","target":"graph","created_at":"2026-05-18T01:35:59Z","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 studies the problem of multi-agent formation maneuver control where both of the centroid and scale of a formation are required to track given velocity references while maintaining the formation shape. Unlike the conventional approaches where the target formation is defined by inter-neighbor relative positions or distances, we propose a bearing-based approach where the target formation is defined by inter-neighbor bearings. Due to the invariance of the bearings, the bearing-based approach provides a natural solution to formation scale control. We assume the dynamics of each agent as ","authors_text":"Daniel Zelazo, Shiyu Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-04-14T12:33:48Z","title":"Bearing-Based Formation Maneuvering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1504.03517","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:aa7b191fc9c8d41d6b1a3bc563ddec053af2e7800e36cb8ac3c245d9c59c32cb","target":"record","created_at":"2026-05-18T01:35:59Z","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":"62e7afdf5841112630aec4ee78965e7ebba26eb8c65f204570bc6b1533753fe5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-04-14T12:33:48Z","title_canon_sha256":"184131abbefebb04e0693631e5be43c3037c09844a7bc0116dd765c9eb44c04b"},"schema_version":"1.0","source":{"id":"1504.03517","kind":"arxiv","version":2}},"canonical_sha256":"7531d2e9c3789e834907dd4a0c76e42ce8cc70ce162585a8092b8b62e8e5f380","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7531d2e9c3789e834907dd4a0c76e42ce8cc70ce162585a8092b8b62e8e5f380","first_computed_at":"2026-05-18T01:35:59.747600Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:35:59.747600Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Giae3aRbDe8HzamipKGrdeAwiJyL+OgWnP9YMhDivYKFNzI2gqmusmyS/cUJIDSymvGeqAdKQtgWG09aBe7iCw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:35:59.748091Z","signed_message":"canonical_sha256_bytes"},"source_id":"1504.03517","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aa7b191fc9c8d41d6b1a3bc563ddec053af2e7800e36cb8ac3c245d9c59c32cb","sha256:8a20b9fe9197dac2899860e7c3ea8d01aff0520e0e3b7e0b2c7a756702675fdd"],"state_sha256":"89b8c631e4a79043d1fb820b9989948590eb96a9c96038d310d7de05f5dd6db3"}