{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:AH4NQTQ2YESAQMSI7FUXLUULMP","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":"888eaeb2917b414686b53b30e198a9d7daa5bc0309ce2ddad78d0a8b490cd590","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-11-06T19:10:49Z","title_canon_sha256":"24fb0e64821f39a66726210dc7be315668ca9f3a6aa2cc6a3f0d271caed24879"},"schema_version":"1.0","source":{"id":"1611.01824","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1611.01824","created_at":"2026-05-18T00:46:55Z"},{"alias_kind":"arxiv_version","alias_value":"1611.01824v3","created_at":"2026-05-18T00:46:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.01824","created_at":"2026-05-18T00:46:55Z"},{"alias_kind":"pith_short_12","alias_value":"AH4NQTQ2YESA","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"AH4NQTQ2YESAQMSI","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"AH4NQTQ2","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:2d8d955b35e9d272dc9f4563213f57755af834391cc46ea23bc3411ce182ff28","target":"graph","created_at":"2026-05-18T00:46:55Z","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 distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a decentralized model-free control protocol in the sense that each agent uses only local information from its neighbors to calculate its own control signal, without incorporating any knowledge of the model nonlinearities and exogenous disturbances. Moreover, the transient and steady state response is solely determined by certain designer-specified performance","authors_text":"Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-11-06T19:10:49Z","title":"Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.01824","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":"sha256:593dfde8fbb4ac01b1a168d3c59f47caffd9b569f662381f051f261d635b6a80","target":"record","created_at":"2026-05-18T00:46:55Z","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":"888eaeb2917b414686b53b30e198a9d7daa5bc0309ce2ddad78d0a8b490cd590","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-11-06T19:10:49Z","title_canon_sha256":"24fb0e64821f39a66726210dc7be315668ca9f3a6aa2cc6a3f0d271caed24879"},"schema_version":"1.0","source":{"id":"1611.01824","kind":"arxiv","version":3}},"canonical_sha256":"01f8d84e1ac124083248f96975d28b63df0f8cadd8ae141ad98184483ca98e7b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"01f8d84e1ac124083248f96975d28b63df0f8cadd8ae141ad98184483ca98e7b","first_computed_at":"2026-05-18T00:46:55.393099Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:46:55.393099Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XjufrRwa0G6puHKxZrXvC2jV7gvosIMeEz833xZdHeUO6hL9OSQUNsdXeuF57ISoSFD95eu+RzP37sWEnrDCBA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:46:55.393646Z","signed_message":"canonical_sha256_bytes"},"source_id":"1611.01824","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:593dfde8fbb4ac01b1a168d3c59f47caffd9b569f662381f051f261d635b6a80","sha256:2d8d955b35e9d272dc9f4563213f57755af834391cc46ea23bc3411ce182ff28"],"state_sha256":"e9ad5a86ed012514201295f430918c741ce25ec0ccb72882c9c557e24dc49194"}