{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:6AGMGGHOVUKLZCYS37HDRI5ZGO","short_pith_number":"pith:6AGMGGHO","canonical_record":{"source":{"id":"1811.10055","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-11-25T16:52:41Z","cross_cats_sorted":[],"title_canon_sha256":"7a05b51cdca669646a0365153bc503ef562769c03438aab51cb9e03be2e3e1cb","abstract_canon_sha256":"c39a1fa72e0ce6b8472737842e17ae5708b3e2b776331e9323b1dc8c65f757a0"},"schema_version":"1.0"},"canonical_sha256":"f00cc318eead14bc8b12dfce38a3b933a9251d343decba81a7510efccf415fc8","source":{"kind":"arxiv","id":"1811.10055","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.10055","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"arxiv_version","alias_value":"1811.10055v1","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.10055","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"pith_short_12","alias_value":"6AGMGGHOVUKL","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6AGMGGHOVUKLZCYS","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6AGMGGHO","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:6AGMGGHOVUKLZCYS37HDRI5ZGO","target":"record","payload":{"canonical_record":{"source":{"id":"1811.10055","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-11-25T16:52:41Z","cross_cats_sorted":[],"title_canon_sha256":"7a05b51cdca669646a0365153bc503ef562769c03438aab51cb9e03be2e3e1cb","abstract_canon_sha256":"c39a1fa72e0ce6b8472737842e17ae5708b3e2b776331e9323b1dc8c65f757a0"},"schema_version":"1.0"},"canonical_sha256":"f00cc318eead14bc8b12dfce38a3b933a9251d343decba81a7510efccf415fc8","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:59:58.802188Z","signature_b64":"Va/IiogPM94L2BPfTJjoJ5DnB4k5uj/LKQIa6XOy7KA0yEZXE4mwkfRhbKhytFKPIDRGIlRrORESTRfxVusfDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f00cc318eead14bc8b12dfce38a3b933a9251d343decba81a7510efccf415fc8","last_reissued_at":"2026-05-17T23:59:58.801630Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:59:58.801630Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1811.10055","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":"2026-05-17T23:59:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XyyGIlM79ZvD1JAxbHMXqMv/5Mf/LrN1cdP1/5MeAk5k9ghZ4gNk62cxolfL5Gbx2S8XT4gPKsomwAGG4gY2Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:20:29.531464Z"},"content_sha256":"cf5cccab72345279ac6867eee35564b523bc2ae5b5365b66342a0ba3443cd751","schema_version":"1.0","event_id":"sha256:cf5cccab72345279ac6867eee35564b523bc2ae5b5365b66342a0ba3443cd751"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:6AGMGGHOVUKLZCYS37HDRI5ZGO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed model independent algorithm for spacecraft synchronization under relative measurement bias","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Himani Sinhmar, Sukumar Srikant","submitted_at":"2018-11-25T16:52:41Z","abstract_excerpt":"This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics of the spacecraft is expressed in Euler-Lagrangian form. We propose a novel distributed, model independent control law for synchronization of networked Euler Lagrange system with biased measurements. An adaptive control law is derived based on Lyapunov analysis to estimate the bias. The proposed algorithm ensures that the velocities converge to that of leader"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.10055","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":"2026-05-17T23:59:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Tycbx5lN//XFUoA9xPi+jubIBXDHgZ9dUZTDX9JaH1NrAcpkMuibSdTlsgusNGlSomeJ1nKr2oK1fdwCNfKLDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T09:20:29.531801Z"},"content_sha256":"3c9b63aaead91ed59b2aaf5d22d4b64e1a5e33eac0a018cc620a64e1b469cdd5","schema_version":"1.0","event_id":"sha256:3c9b63aaead91ed59b2aaf5d22d4b64e1a5e33eac0a018cc620a64e1b469cdd5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/bundle.json","state_url":"https://pith.science/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/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":"2026-06-27T09:20:29Z","links":{"resolver":"https://pith.science/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO","bundle":"https://pith.science/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/bundle.json","state":"https://pith.science/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/6AGMGGHOVUKLZCYS37HDRI5ZGO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:6AGMGGHOVUKLZCYS37HDRI5ZGO","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":"c39a1fa72e0ce6b8472737842e17ae5708b3e2b776331e9323b1dc8c65f757a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-11-25T16:52:41Z","title_canon_sha256":"7a05b51cdca669646a0365153bc503ef562769c03438aab51cb9e03be2e3e1cb"},"schema_version":"1.0","source":{"id":"1811.10055","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.10055","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"arxiv_version","alias_value":"1811.10055v1","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.10055","created_at":"2026-05-17T23:59:58Z"},{"alias_kind":"pith_short_12","alias_value":"6AGMGGHOVUKL","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"6AGMGGHOVUKLZCYS","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"6AGMGGHO","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:3c9b63aaead91ed59b2aaf5d22d4b64e1a5e33eac0a018cc620a64e1b469cdd5","target":"graph","created_at":"2026-05-17T23:59:58Z","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 addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics of the spacecraft is expressed in Euler-Lagrangian form. We propose a novel distributed, model independent control law for synchronization of networked Euler Lagrange system with biased measurements. An adaptive control law is derived based on Lyapunov analysis to estimate the bias. The proposed algorithm ensures that the velocities converge to that of leader","authors_text":"Himani Sinhmar, Sukumar Srikant","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-11-25T16:52:41Z","title":"Distributed model independent algorithm for spacecraft synchronization under relative measurement bias"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.10055","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:cf5cccab72345279ac6867eee35564b523bc2ae5b5365b66342a0ba3443cd751","target":"record","created_at":"2026-05-17T23:59:58Z","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":"c39a1fa72e0ce6b8472737842e17ae5708b3e2b776331e9323b1dc8c65f757a0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2018-11-25T16:52:41Z","title_canon_sha256":"7a05b51cdca669646a0365153bc503ef562769c03438aab51cb9e03be2e3e1cb"},"schema_version":"1.0","source":{"id":"1811.10055","kind":"arxiv","version":1}},"canonical_sha256":"f00cc318eead14bc8b12dfce38a3b933a9251d343decba81a7510efccf415fc8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f00cc318eead14bc8b12dfce38a3b933a9251d343decba81a7510efccf415fc8","first_computed_at":"2026-05-17T23:59:58.801630Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:59:58.801630Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Va/IiogPM94L2BPfTJjoJ5DnB4k5uj/LKQIa6XOy7KA0yEZXE4mwkfRhbKhytFKPIDRGIlRrORESTRfxVusfDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:59:58.802188Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.10055","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cf5cccab72345279ac6867eee35564b523bc2ae5b5365b66342a0ba3443cd751","sha256:3c9b63aaead91ed59b2aaf5d22d4b64e1a5e33eac0a018cc620a64e1b469cdd5"],"state_sha256":"8c353b272f16b774c6dcdf949ab1b57ff90e66b51841718a1f0eff2fdd8ab30e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sBV1WvTZLalRdOIyE+u3OWzVeXnTciIeM9SAfsIkDVXwLk/v7MsRc8uVthALveELf/2rCA65GaiyCAmr/MehBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T09:20:29.533645Z","bundle_sha256":"2b315a293a732ff37aedff6c0400d4fdc639e2f051fb20f49c69ba3579838a41"}}