{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UUWUHHA3YPVZENB3CMBRMGUM5A","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":"3893693230961cdf213152c5bfcef3abe73d18f5a4b5d4f277f79f6d45ba345e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-23T13:39:29Z","title_canon_sha256":"36c5ec4df2e59e3eaa8c63cdebc79372808cdb303820ff3805ec8390e42de97d"},"schema_version":"1.0","source":{"id":"2601.10724","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.10724","created_at":"2026-06-10T00:08:26Z"},{"alias_kind":"arxiv_version","alias_value":"2601.10724v3","created_at":"2026-06-10T00:08:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.10724","created_at":"2026-06-10T00:08:26Z"},{"alias_kind":"pith_short_12","alias_value":"UUWUHHA3YPVZ","created_at":"2026-06-10T00:08:26Z"},{"alias_kind":"pith_short_16","alias_value":"UUWUHHA3YPVZENB3","created_at":"2026-06-10T00:08:26Z"},{"alias_kind":"pith_short_8","alias_value":"UUWUHHA3","created_at":"2026-06-10T00:08:26Z"}],"graph_snapshots":[{"event_id":"sha256:79df2b0a4a3ce3b23314d5241f140b5c9f9afb0e1db652c8405e1fd3de90b8c2","target":"graph","created_at":"2026-06-10T00:08:26Z","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/2601.10724/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can tackle external disturbances and uncertain system parameters while maintaining a predefined safe distance between the robots. A crucial challenge in this context is dealing with the unknown/uncertain friction forces between wheels and the ground, which vary with changes in road surface, wear in tires, and speed of the vehicle. Although state-of-the-art adapti","authors_text":"Rishabh Dev Yadav","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-23T13:39:29Z","title":"Adaptive Sliding Mode Control for Vehicle Platoons with State-Dependent Friction Uncertainty"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.10724","kind":"arxiv","version":3},"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":"sha256:8a724b7add835f71a15194bf52a34db7656efd48a2fb22b969e193460798dbae","target":"record","created_at":"2026-06-10T00:08:26Z","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":"3893693230961cdf213152c5bfcef3abe73d18f5a4b5d4f277f79f6d45ba345e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-12-23T13:39:29Z","title_canon_sha256":"36c5ec4df2e59e3eaa8c63cdebc79372808cdb303820ff3805ec8390e42de97d"},"schema_version":"1.0","source":{"id":"2601.10724","kind":"arxiv","version":3}},"canonical_sha256":"a52d439c1bc3eb92343b1303161a8ce83e76cb4415132847372f8a4d6e33da5f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a52d439c1bc3eb92343b1303161a8ce83e76cb4415132847372f8a4d6e33da5f","first_computed_at":"2026-06-10T00:08:26.242757Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T00:08:26.242757Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"aUFK3ZlMcdY7Il1q3RRoAny4plUGAl2vvHr8005fg23aeV9MYMHxLZPceMBdKsj2U1xJythfTZNap2QLqvL/Bg==","signature_status":"signed_v1","signed_at":"2026-06-10T00:08:26.243881Z","signed_message":"canonical_sha256_bytes"},"source_id":"2601.10724","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8a724b7add835f71a15194bf52a34db7656efd48a2fb22b969e193460798dbae","sha256:79df2b0a4a3ce3b23314d5241f140b5c9f9afb0e1db652c8405e1fd3de90b8c2"],"state_sha256":"b367f5144d79f031fb51ebe3eb6e3714502eab928ec8479221ef9d73d5dad83b"}