{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:43L2VVHZGETOKLCEOZHRFS27NA","short_pith_number":"pith:43L2VVHZ","schema_version":"1.0","canonical_sha256":"e6d7aad4f93126e52c44764f12cb5f6807bbcfe9b44673c9fcefb9895a21cfeb","source":{"kind":"arxiv","id":"1912.00168","version":1},"attestation_state":"computed","paper":{"title":"Bird Flocking Inspired Control Strategy for Multi-UAV Collective Motion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Li Qiu, Xiyuan Liu","submitted_at":"2019-11-30T09:47:17Z","abstract_excerpt":"UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a control strategy for UAV collective motion with distributed measure and control methods was proposed in this study. In order to appropriately adjust the inter-agent distance suitable for realization, the control law based on bird flocking theory was optimized, and the convergence of velocities and collision avoidance properties were presented through simulation re"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1912.00168","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-11-30T09:47:17Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"a086bc841753b4480e9ce32263af43ec99e501c0520cc9ffd7a25aeb2b9850c2","abstract_canon_sha256":"5fd0ca5fe7bf60a11522c43566a8031c35c0e1f5c0f964eeea6462bd0617ac50"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:23:10.819411Z","signature_b64":"zFd4Q579ZQFHLtUK9upxZkRyFO4dYZ7eSRGfEu8ZDgtnz4sVfnegVwT2RqAfDRJpapmSyvEGALFxrq9YZ8dUCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e6d7aad4f93126e52c44764f12cb5f6807bbcfe9b44673c9fcefb9895a21cfeb","last_reissued_at":"2026-07-05T00:23:10.819065Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:23:10.819065Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Bird Flocking Inspired Control Strategy for Multi-UAV Collective Motion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Li Qiu, Xiyuan Liu","submitted_at":"2019-11-30T09:47:17Z","abstract_excerpt":"UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a control strategy for UAV collective motion with distributed measure and control methods was proposed in this study. In order to appropriately adjust the inter-agent distance suitable for realization, the control law based on bird flocking theory was optimized, and the convergence of velocities and collision avoidance properties were presented through simulation re"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1912.00168","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/1912.00168/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1912.00168","created_at":"2026-07-05T00:23:10.819120+00:00"},{"alias_kind":"arxiv_version","alias_value":"1912.00168v1","created_at":"2026-07-05T00:23:10.819120+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1912.00168","created_at":"2026-07-05T00:23:10.819120+00:00"},{"alias_kind":"pith_short_12","alias_value":"43L2VVHZGETO","created_at":"2026-07-05T00:23:10.819120+00:00"},{"alias_kind":"pith_short_16","alias_value":"43L2VVHZGETOKLCE","created_at":"2026-07-05T00:23:10.819120+00:00"},{"alias_kind":"pith_short_8","alias_value":"43L2VVHZ","created_at":"2026-07-05T00:23:10.819120+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA","json":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA.json","graph_json":"https://pith.science/api/pith-number/43L2VVHZGETOKLCEOZHRFS27NA/graph.json","events_json":"https://pith.science/api/pith-number/43L2VVHZGETOKLCEOZHRFS27NA/events.json","paper":"https://pith.science/paper/43L2VVHZ"},"agent_actions":{"view_html":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA","download_json":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA.json","view_paper":"https://pith.science/paper/43L2VVHZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1912.00168&json=true","fetch_graph":"https://pith.science/api/pith-number/43L2VVHZGETOKLCEOZHRFS27NA/graph.json","fetch_events":"https://pith.science/api/pith-number/43L2VVHZGETOKLCEOZHRFS27NA/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA/action/timestamp_anchor","attest_storage":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA/action/storage_attestation","attest_author":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA/action/author_attestation","sign_citation":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA/action/citation_signature","submit_replication":"https://pith.science/pith/43L2VVHZGETOKLCEOZHRFS27NA/action/replication_record"}},"created_at":"2026-07-05T00:23:10.819120+00:00","updated_at":"2026-07-05T00:23:10.819120+00:00"}