{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:5N74GXNLCT6MCE46CNIACUOGH6","short_pith_number":"pith:5N74GXNL","canonical_record":{"source":{"id":"1803.11411","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-30T11:07:17Z","cross_cats_sorted":["cs.LG","cs.MA"],"title_canon_sha256":"0f0fcb999942d57d6a010fea7c5afa5331750a0f86efd25f96de0f3b04edad29","abstract_canon_sha256":"3e4a4bfd0115e46e35ddf7f45ebbbf55aae6d0add50489c2405693e3578a44f7"},"schema_version":"1.0"},"canonical_sha256":"eb7fc35dab14fcc1139e13500151c63fa227d2fcb7281e2179e97fd9f82fcae7","source":{"kind":"arxiv","id":"1803.11411","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.11411","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"arxiv_version","alias_value":"1803.11411v1","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.11411","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"pith_short_12","alias_value":"5N74GXNLCT6M","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5N74GXNLCT6MCE46","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5N74GXNL","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:5N74GXNLCT6MCE46CNIACUOGH6","target":"record","payload":{"canonical_record":{"source":{"id":"1803.11411","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-30T11:07:17Z","cross_cats_sorted":["cs.LG","cs.MA"],"title_canon_sha256":"0f0fcb999942d57d6a010fea7c5afa5331750a0f86efd25f96de0f3b04edad29","abstract_canon_sha256":"3e4a4bfd0115e46e35ddf7f45ebbbf55aae6d0add50489c2405693e3578a44f7"},"schema_version":"1.0"},"canonical_sha256":"eb7fc35dab14fcc1139e13500151c63fa227d2fcb7281e2179e97fd9f82fcae7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:19:43.733642Z","signature_b64":"FqvN5K/tUGjYjrmC/GU2slC4SoQTaL1l2lX7xABEHgHKwIrbPamjAt+AOZE2QEJQ+rJIhvKW6tPOqFK2l1QwCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eb7fc35dab14fcc1139e13500151c63fa227d2fcb7281e2179e97fd9f82fcae7","last_reissued_at":"2026-05-18T00:19:43.732968Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:19:43.732968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1803.11411","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":"2026-05-18T00:19:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"A5/3CrJ5+9oSKmznBbyo3YqvMHwpGrOMUCbBKoZw8z/GCboRv7WTeFG1GFO5DyFmMOgvA/U7cuSpZvLTZN8ZCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T02:19:39.130814Z"},"content_sha256":"408ae945f9cada126de6aa760ccad97ef2e085288e1c1205efae72e45b2cfe69","schema_version":"1.0","event_id":"sha256:408ae945f9cada126de6aa760ccad97ef2e085288e1c1205efae72e45b2cfe69"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:5N74GXNLCT6MCE46CNIACUOGH6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Observer-based Adaptive Optimal Output Containment Control problem of Linear Heterogeneous Multi-agent Systems with Relative Output Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.MA"],"primary_cat":"cs.SY","authors_text":"Farzaneh Tatari, Hamidreza Modares, Majid Mazouchi, Mohammad Bagher Naghibi-Sistani, Seyed Kamal Hosseini Sani","submitted_at":"2018-03-30T11:07:17Z","abstract_excerpt":"This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure that their outputs fall into the convex hull of the leaders' output (i.e., the desired or safe region), but also optimizes their transient performance. The proposed optimal control solution is composed of a feedback part, depending of the followers' state, and a feed-forward part, depending on the convex hull of the leaders' state. To comply with most real-w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.11411","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":""},"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":"2026-05-18T00:19:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IFR3Iv23JW+Eyahi1tBWiGP5Fox6gAw3C4M2S7vjdCVAVrV74LNYaDVBsgExYDX+Fc7k/tzf6VCJ3CbhrSpwDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-24T02:19:39.131163Z"},"content_sha256":"4e1613626bf6b85347f29e58d3a9f8d5e876938d195f1e4f022de0d6010de2db","schema_version":"1.0","event_id":"sha256:4e1613626bf6b85347f29e58d3a9f8d5e876938d195f1e4f022de0d6010de2db"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5N74GXNLCT6MCE46CNIACUOGH6/bundle.json","state_url":"https://pith.science/pith/5N74GXNLCT6MCE46CNIACUOGH6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5N74GXNLCT6MCE46CNIACUOGH6/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":"2026-07-24T02:19:39Z","links":{"resolver":"https://pith.science/pith/5N74GXNLCT6MCE46CNIACUOGH6","bundle":"https://pith.science/pith/5N74GXNLCT6MCE46CNIACUOGH6/bundle.json","state":"https://pith.science/pith/5N74GXNLCT6MCE46CNIACUOGH6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5N74GXNLCT6MCE46CNIACUOGH6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5N74GXNLCT6MCE46CNIACUOGH6","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":"3e4a4bfd0115e46e35ddf7f45ebbbf55aae6d0add50489c2405693e3578a44f7","cross_cats_sorted":["cs.LG","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-30T11:07:17Z","title_canon_sha256":"0f0fcb999942d57d6a010fea7c5afa5331750a0f86efd25f96de0f3b04edad29"},"schema_version":"1.0","source":{"id":"1803.11411","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1803.11411","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"arxiv_version","alias_value":"1803.11411v1","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.11411","created_at":"2026-05-18T00:19:43Z"},{"alias_kind":"pith_short_12","alias_value":"5N74GXNLCT6M","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5N74GXNLCT6MCE46","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5N74GXNL","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:4e1613626bf6b85347f29e58d3a9f8d5e876938d195f1e4f022de0d6010de2db","target":"graph","created_at":"2026-05-18T00:19:43Z","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 develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure that their outputs fall into the convex hull of the leaders' output (i.e., the desired or safe region), but also optimizes their transient performance. The proposed optimal control solution is composed of a feedback part, depending of the followers' state, and a feed-forward part, depending on the convex hull of the leaders' state. To comply with most real-w","authors_text":"Farzaneh Tatari, Hamidreza Modares, Majid Mazouchi, Mohammad Bagher Naghibi-Sistani, Seyed Kamal Hosseini Sani","cross_cats":["cs.LG","cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-30T11:07:17Z","title":"Observer-based Adaptive Optimal Output Containment Control problem of Linear Heterogeneous Multi-agent Systems with Relative Output Measurements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.11411","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":"sha256:408ae945f9cada126de6aa760ccad97ef2e085288e1c1205efae72e45b2cfe69","target":"record","created_at":"2026-05-18T00:19:43Z","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":"3e4a4bfd0115e46e35ddf7f45ebbbf55aae6d0add50489c2405693e3578a44f7","cross_cats_sorted":["cs.LG","cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-03-30T11:07:17Z","title_canon_sha256":"0f0fcb999942d57d6a010fea7c5afa5331750a0f86efd25f96de0f3b04edad29"},"schema_version":"1.0","source":{"id":"1803.11411","kind":"arxiv","version":1}},"canonical_sha256":"eb7fc35dab14fcc1139e13500151c63fa227d2fcb7281e2179e97fd9f82fcae7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"eb7fc35dab14fcc1139e13500151c63fa227d2fcb7281e2179e97fd9f82fcae7","first_computed_at":"2026-05-18T00:19:43.732968Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:19:43.732968Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FqvN5K/tUGjYjrmC/GU2slC4SoQTaL1l2lX7xABEHgHKwIrbPamjAt+AOZE2QEJQ+rJIhvKW6tPOqFK2l1QwCA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:19:43.733642Z","signed_message":"canonical_sha256_bytes"},"source_id":"1803.11411","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:408ae945f9cada126de6aa760ccad97ef2e085288e1c1205efae72e45b2cfe69","sha256:4e1613626bf6b85347f29e58d3a9f8d5e876938d195f1e4f022de0d6010de2db"],"state_sha256":"a1e06b2159d9049d6f38987efd59e33ef3aa2f71fa1752ed2e044caa42ced655"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3MJFpUAUdCIULb9P3gw9YmTINgfiC9hTCjq5dbHSJfUgUNdXm3Nj+FTo03j0vup+agqz4iGepmymGvCws0e2BA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-24T02:19:39.133643Z","bundle_sha256":"b4c163aaeb480541ad05b5fb22af7dec0fc5111709499d11151aaef52ea0bdb2"}}