{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:65YAJ7QNRLP24YPVCAPQMF7ZLI","short_pith_number":"pith:65YAJ7QN","canonical_record":{"source":{"id":"1808.00312","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-08-01T13:32:21Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"5404ad7efd83ed5d6563e5b97080a9ea3a79c79ea67031e9261035972be3ee6c","abstract_canon_sha256":"4c39db345293b53cf6f2ad68fc2d2b413bb5ba83e752a16e573db19d16abc1d1"},"schema_version":"1.0"},"canonical_sha256":"f77004fe0d8adfae61f5101f0617f95a2671bdc5ef0780b443cc8736eb698eb3","source":{"kind":"arxiv","id":"1808.00312","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.00312","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"arxiv_version","alias_value":"1808.00312v1","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.00312","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"pith_short_12","alias_value":"65YAJ7QNRLP2","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"65YAJ7QNRLP24YPV","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"65YAJ7QN","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:65YAJ7QNRLP24YPVCAPQMF7ZLI","target":"record","payload":{"canonical_record":{"source":{"id":"1808.00312","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-08-01T13:32:21Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"5404ad7efd83ed5d6563e5b97080a9ea3a79c79ea67031e9261035972be3ee6c","abstract_canon_sha256":"4c39db345293b53cf6f2ad68fc2d2b413bb5ba83e752a16e573db19d16abc1d1"},"schema_version":"1.0"},"canonical_sha256":"f77004fe0d8adfae61f5101f0617f95a2671bdc5ef0780b443cc8736eb698eb3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:09:06.487635Z","signature_b64":"bZItJrdgLN1sxWp9Ya93NQICQPLzJlRHbP8FbDheokRmLN2/wUtVtQks4zZYUoEFnOTlm7tiMO3Hytz39UG6AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f77004fe0d8adfae61f5101f0617f95a2671bdc5ef0780b443cc8736eb698eb3","last_reissued_at":"2026-05-18T00:09:06.486994Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:09:06.486994Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1808.00312","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":"2026-05-18T00:09:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g2OKUd9Dme2lKSfheEfHqNLAO4xN/cXyXh9EmUOQ/E4B+GL4jx8EF/Xem8CNJsvRV4ob2wHvmB3jSBzzhmB0DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T04:41:34.682506Z"},"content_sha256":"704c26f5798b32e18dece57b918bdaeb40cabdefe94b9fe8b9752702c95d6dca","schema_version":"1.0","event_id":"sha256:704c26f5798b32e18dece57b918bdaeb40cabdefe94b9fe8b9752702c95d6dca"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:65YAJ7QNRLP24YPVCAPQMF7ZLI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On a hierarchical control strategy for multi-agent formation without reflection","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.SY","authors_text":"Brian D. O. Anderson, Huichao Dong, Toshiharu Sugie, Zhiyong Sun","submitted_at":"2018-08-01T13:32:21Z","abstract_excerpt":"This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.00312","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":"2026-05-18T00:09:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zT7uEGwaHfb3gd65cfyR6COvx6LPTSiPUT8bMUI+GKqXLfeyaStr9oj+acVvIVDHt6MT/AsJttiVedMfGvFbDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T04:41:34.683295Z"},"content_sha256":"092155793b83be1c33381f988e4790d7842bf362fe5954b2d2b4fc9c8286044d","schema_version":"1.0","event_id":"sha256:092155793b83be1c33381f988e4790d7842bf362fe5954b2d2b4fc9c8286044d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/bundle.json","state_url":"https://pith.science/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/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":"2026-05-30T04:41:34Z","links":{"resolver":"https://pith.science/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI","bundle":"https://pith.science/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/bundle.json","state":"https://pith.science/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/65YAJ7QNRLP24YPVCAPQMF7ZLI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:65YAJ7QNRLP24YPVCAPQMF7ZLI","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":"4c39db345293b53cf6f2ad68fc2d2b413bb5ba83e752a16e573db19d16abc1d1","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-08-01T13:32:21Z","title_canon_sha256":"5404ad7efd83ed5d6563e5b97080a9ea3a79c79ea67031e9261035972be3ee6c"},"schema_version":"1.0","source":{"id":"1808.00312","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.00312","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"arxiv_version","alias_value":"1808.00312v1","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.00312","created_at":"2026-05-18T00:09:06Z"},{"alias_kind":"pith_short_12","alias_value":"65YAJ7QNRLP2","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"65YAJ7QNRLP24YPV","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"65YAJ7QN","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:092155793b83be1c33381f988e4790d7842bf362fe5954b2d2b4fc9c8286044d","target":"graph","created_at":"2026-05-18T00:09:06Z","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 considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by considering a potential function which consists of both distance error and signed triangle area terms.","authors_text":"Brian D. O. Anderson, Huichao Dong, Toshiharu Sugie, Zhiyong Sun","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-08-01T13:32:21Z","title":"On a hierarchical control strategy for multi-agent formation without reflection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.00312","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":"sha256:704c26f5798b32e18dece57b918bdaeb40cabdefe94b9fe8b9752702c95d6dca","target":"record","created_at":"2026-05-18T00:09:06Z","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":"4c39db345293b53cf6f2ad68fc2d2b413bb5ba83e752a16e573db19d16abc1d1","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-08-01T13:32:21Z","title_canon_sha256":"5404ad7efd83ed5d6563e5b97080a9ea3a79c79ea67031e9261035972be3ee6c"},"schema_version":"1.0","source":{"id":"1808.00312","kind":"arxiv","version":1}},"canonical_sha256":"f77004fe0d8adfae61f5101f0617f95a2671bdc5ef0780b443cc8736eb698eb3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f77004fe0d8adfae61f5101f0617f95a2671bdc5ef0780b443cc8736eb698eb3","first_computed_at":"2026-05-18T00:09:06.486994Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:09:06.486994Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bZItJrdgLN1sxWp9Ya93NQICQPLzJlRHbP8FbDheokRmLN2/wUtVtQks4zZYUoEFnOTlm7tiMO3Hytz39UG6AA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:09:06.487635Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.00312","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:704c26f5798b32e18dece57b918bdaeb40cabdefe94b9fe8b9752702c95d6dca","sha256:092155793b83be1c33381f988e4790d7842bf362fe5954b2d2b4fc9c8286044d"],"state_sha256":"0da24195a7f56eecf59e3a279c06709cf5d2f84c74e4c9606ed4a407e36fe2f6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+XbcUcnUokTCLDUDxymFzkgEm39LZNF5Mj4kB1TQUH/yCCtVcGHcyTREvOYR91VwtjPReC2OJnTZ+/qPjbHcDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T04:41:34.687202Z","bundle_sha256":"1c9180d84268ca1a4c4f75f1e445c7c91207e99f5d70a67c02dc20de8220f716"}}