{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:Y2CD66RTNVDDMFCBSGSQVXC6NT","short_pith_number":"pith:Y2CD66RT","canonical_record":{"source":{"id":"1411.3841","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-11-14T09:40:08Z","cross_cats_sorted":[],"title_canon_sha256":"2b5c6a5a9e7a05b7cf7a75a4acefb7ba5981313b9d74b91f99a28ab92ca7688f","abstract_canon_sha256":"b8f3840ec4decadcac87fa318fc89df2febb3243f75eef2688b0f00a212bc651"},"schema_version":"1.0"},"canonical_sha256":"c6843f7a336d4636144191a50adc5e6ce8b39f558aef2db178efadf143d09365","source":{"kind":"arxiv","id":"1411.3841","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.3841","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"arxiv_version","alias_value":"1411.3841v3","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.3841","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"pith_short_12","alias_value":"Y2CD66RTNVDD","created_at":"2026-05-18T12:28:57Z"},{"alias_kind":"pith_short_16","alias_value":"Y2CD66RTNVDDMFCB","created_at":"2026-05-18T12:28:57Z"},{"alias_kind":"pith_short_8","alias_value":"Y2CD66RT","created_at":"2026-05-18T12:28:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:Y2CD66RTNVDDMFCBSGSQVXC6NT","target":"record","payload":{"canonical_record":{"source":{"id":"1411.3841","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-11-14T09:40:08Z","cross_cats_sorted":[],"title_canon_sha256":"2b5c6a5a9e7a05b7cf7a75a4acefb7ba5981313b9d74b91f99a28ab92ca7688f","abstract_canon_sha256":"b8f3840ec4decadcac87fa318fc89df2febb3243f75eef2688b0f00a212bc651"},"schema_version":"1.0"},"canonical_sha256":"c6843f7a336d4636144191a50adc5e6ce8b39f558aef2db178efadf143d09365","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:57:51.333376Z","signature_b64":"TshDPy+RGYVWKGlxGXiVnRn0pgDOb5y4BOyCigEE+R8RTxDYJ7nDnciXwb6mBcO1cpUlJWxxqhLhaO/jAoXTCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c6843f7a336d4636144191a50adc5e6ce8b39f558aef2db178efadf143d09365","last_reissued_at":"2026-05-18T00:57:51.332742Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:57:51.332742Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1411.3841","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:57:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AeebnfKUsd7PzLx4bJ2Qsv203XKQcNEFxsUrlJZVVmF7ma5QhqB0ccNBBFkwVyYhzen4hNKNuaPeOu0nNPV9Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T12:10:45.899306Z"},"content_sha256":"61ff010da1cc2806f90cbcd7707112062ccd7a8653111d033be3c7fb29f7f8d3","schema_version":"1.0","event_id":"sha256:61ff010da1cc2806f90cbcd7707112062ccd7a8653111d033be3c7fb29f7f8d3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:Y2CD66RTNVDDMFCBSGSQVXC6NT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Simultaneous Velocity and Position Estimation via Distance-only Measurements with Application to Multi-Agent System Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Bomin Jiang, Brian D.O. Anderson, Mohammad Deghat","submitted_at":"2014-11-14T09:40:08Z","abstract_excerpt":"This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough information for our objectives, we postulate that agents engage in a combination of circular motion and linear motion. The proposed estimator can be used to develop control algorithms where only distance measurements are available to each agent. As an example, we show how this estimation method can be used to control the formation shape and velocity of the agents in"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.3841","kind":"arxiv","version":3},"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":"2026-05-18T00:57:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZGZGWEgEjCghg2looCYb3mxZpAUk9zZuH0xHtQ9u5H6ryyXAtNyQpU0MPs/ZMnHFyNNOsbvMrV+srjUyq/uPDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T12:10:45.899672Z"},"content_sha256":"a402228c121ff9b950517ca5fecd26ac31960d88a1df48cfbc5203c8c062046e","schema_version":"1.0","event_id":"sha256:a402228c121ff9b950517ca5fecd26ac31960d88a1df48cfbc5203c8c062046e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/bundle.json","state_url":"https://pith.science/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/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":"2026-06-05T12:10:45Z","links":{"resolver":"https://pith.science/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT","bundle":"https://pith.science/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/bundle.json","state":"https://pith.science/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y2CD66RTNVDDMFCBSGSQVXC6NT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:Y2CD66RTNVDDMFCBSGSQVXC6NT","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":"b8f3840ec4decadcac87fa318fc89df2febb3243f75eef2688b0f00a212bc651","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-11-14T09:40:08Z","title_canon_sha256":"2b5c6a5a9e7a05b7cf7a75a4acefb7ba5981313b9d74b91f99a28ab92ca7688f"},"schema_version":"1.0","source":{"id":"1411.3841","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.3841","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"arxiv_version","alias_value":"1411.3841v3","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.3841","created_at":"2026-05-18T00:57:51Z"},{"alias_kind":"pith_short_12","alias_value":"Y2CD66RTNVDD","created_at":"2026-05-18T12:28:57Z"},{"alias_kind":"pith_short_16","alias_value":"Y2CD66RTNVDDMFCB","created_at":"2026-05-18T12:28:57Z"},{"alias_kind":"pith_short_8","alias_value":"Y2CD66RT","created_at":"2026-05-18T12:28:57Z"}],"graph_snapshots":[{"event_id":"sha256:a402228c121ff9b950517ca5fecd26ac31960d88a1df48cfbc5203c8c062046e","target":"graph","created_at":"2026-05-18T00:57:51Z","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 proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough information for our objectives, we postulate that agents engage in a combination of circular motion and linear motion. The proposed estimator can be used to develop control algorithms where only distance measurements are available to each agent. As an example, we show how this estimation method can be used to control the formation shape and velocity of the agents in","authors_text":"Bomin Jiang, Brian D.O. Anderson, Mohammad Deghat","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-11-14T09:40:08Z","title":"Simultaneous Velocity and Position Estimation via Distance-only Measurements with Application to Multi-Agent System Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.3841","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":"sha256:61ff010da1cc2806f90cbcd7707112062ccd7a8653111d033be3c7fb29f7f8d3","target":"record","created_at":"2026-05-18T00:57:51Z","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":"b8f3840ec4decadcac87fa318fc89df2febb3243f75eef2688b0f00a212bc651","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2014-11-14T09:40:08Z","title_canon_sha256":"2b5c6a5a9e7a05b7cf7a75a4acefb7ba5981313b9d74b91f99a28ab92ca7688f"},"schema_version":"1.0","source":{"id":"1411.3841","kind":"arxiv","version":3}},"canonical_sha256":"c6843f7a336d4636144191a50adc5e6ce8b39f558aef2db178efadf143d09365","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6843f7a336d4636144191a50adc5e6ce8b39f558aef2db178efadf143d09365","first_computed_at":"2026-05-18T00:57:51.332742Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:57:51.332742Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TshDPy+RGYVWKGlxGXiVnRn0pgDOb5y4BOyCigEE+R8RTxDYJ7nDnciXwb6mBcO1cpUlJWxxqhLhaO/jAoXTCg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:57:51.333376Z","signed_message":"canonical_sha256_bytes"},"source_id":"1411.3841","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:61ff010da1cc2806f90cbcd7707112062ccd7a8653111d033be3c7fb29f7f8d3","sha256:a402228c121ff9b950517ca5fecd26ac31960d88a1df48cfbc5203c8c062046e"],"state_sha256":"10d41e9b7f0d5a4ed52a6e6ec62d0398a29ebff5e8ce466237e5456e01089f61"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fd13Fk3iUAtRWjTEKsjSMYFsbDVpErK3/Hvu6DgH8ydMUT3ABBLo5ss095/HUOzN0U04Mj+GC+GFcYjtxW9HDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T12:10:45.901595Z","bundle_sha256":"5e32af751ef51f752b3c780124a1c9f010b4b2f18c0aeeb04af0cecc0fd89552"}}