{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:BZUK54BLNZADXXYG46I2OLTYUH","short_pith_number":"pith:BZUK54BL","canonical_record":{"source":{"id":"1707.01185","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-07-04T23:43:44Z","cross_cats_sorted":[],"title_canon_sha256":"c95784636b92eaa6f530630d0fabd0ca4b762f457d21c7e019433269713320b2","abstract_canon_sha256":"3408978b81a847315174cbb1a20c83c6fdba2d6ad5fafe6e58cb3cc3dd8722c3"},"schema_version":"1.0"},"canonical_sha256":"0e68aef02b6e403bdf06e791a72e78a1fd4aa573365c8771a240e6f92d14b20c","source":{"kind":"arxiv","id":"1707.01185","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1707.01185","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"arxiv_version","alias_value":"1707.01185v1","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.01185","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"pith_short_12","alias_value":"BZUK54BLNZAD","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_16","alias_value":"BZUK54BLNZADXXYG","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_8","alias_value":"BZUK54BL","created_at":"2026-05-18T12:31:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:BZUK54BLNZADXXYG46I2OLTYUH","target":"record","payload":{"canonical_record":{"source":{"id":"1707.01185","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-07-04T23:43:44Z","cross_cats_sorted":[],"title_canon_sha256":"c95784636b92eaa6f530630d0fabd0ca4b762f457d21c7e019433269713320b2","abstract_canon_sha256":"3408978b81a847315174cbb1a20c83c6fdba2d6ad5fafe6e58cb3cc3dd8722c3"},"schema_version":"1.0"},"canonical_sha256":"0e68aef02b6e403bdf06e791a72e78a1fd4aa573365c8771a240e6f92d14b20c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:40:53.489124Z","signature_b64":"N9uJ/fpBlzvLmqiVIP+jjxSNAr2lLLwPgORLqhUfppPgABGJWOftrAzqwX8cGfhRypS7ky8Ie+S7HDcAaEa+Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0e68aef02b6e403bdf06e791a72e78a1fd4aa573365c8771a240e6f92d14b20c","last_reissued_at":"2026-05-18T00:40:53.488684Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:40:53.488684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1707.01185","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":"2026-05-18T00:40:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"23hzINk3Py8sJPLcpXfIemCJyaWnywY7DWUYpFjwGcm11yG+vJRJvgBm4Vzsm6vfppVxGRpKqrrSed7YrczcAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T00:49:37.517415Z"},"content_sha256":"9381fa44f3c238a74a03bc26c3fb857bd9eec4c050c7e2cd120b6dd26259774f","schema_version":"1.0","event_id":"sha256:9381fa44f3c238a74a03bc26c3fb857bd9eec4c050c7e2cd120b6dd26259774f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:BZUK54BLNZADXXYG46I2OLTYUH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Attitude Control of Spacecraft Formations Subject To Distributed Communication Delays","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Kamesh Subbarao, Siddharth H. Nair","submitted_at":"2017-07-04T23:43:44Z","abstract_excerpt":"This paper considers the problem of achieving attitude consensus in spacecraft formations with bounded, time-varying communication delays between spacecraft connected as specified by a strongly connected topology. A state feedback con- troller is proposed and investigated using a time domain approach (via LMIs) and a frequency domain approach (via the small-gain theorem) to obtain delay depen- dent stability criteria to achieve the desired consensus. Simulations are presented to demonstrate the application of the strategy in a specific scenario."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.01185","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":"2026-05-18T00:40:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j4CyGZv9fcwrK0SW6TTdU1QkZEZWPJfhqjdCJCZUM7KrhOjWOUT9VVnQhTViWsPh4sZn4ozyPJnNrSzsekC0Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T00:49:37.518141Z"},"content_sha256":"b8d47b2f25d82e7c870b6b1e8f6048411d8ea937acd79f304547e6ed05ca81c7","schema_version":"1.0","event_id":"sha256:b8d47b2f25d82e7c870b6b1e8f6048411d8ea937acd79f304547e6ed05ca81c7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BZUK54BLNZADXXYG46I2OLTYUH/bundle.json","state_url":"https://pith.science/pith/BZUK54BLNZADXXYG46I2OLTYUH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BZUK54BLNZADXXYG46I2OLTYUH/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":"2026-06-05T00:49:37Z","links":{"resolver":"https://pith.science/pith/BZUK54BLNZADXXYG46I2OLTYUH","bundle":"https://pith.science/pith/BZUK54BLNZADXXYG46I2OLTYUH/bundle.json","state":"https://pith.science/pith/BZUK54BLNZADXXYG46I2OLTYUH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BZUK54BLNZADXXYG46I2OLTYUH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:BZUK54BLNZADXXYG46I2OLTYUH","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":"3408978b81a847315174cbb1a20c83c6fdba2d6ad5fafe6e58cb3cc3dd8722c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-07-04T23:43:44Z","title_canon_sha256":"c95784636b92eaa6f530630d0fabd0ca4b762f457d21c7e019433269713320b2"},"schema_version":"1.0","source":{"id":"1707.01185","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1707.01185","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"arxiv_version","alias_value":"1707.01185v1","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.01185","created_at":"2026-05-18T00:40:53Z"},{"alias_kind":"pith_short_12","alias_value":"BZUK54BLNZAD","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_16","alias_value":"BZUK54BLNZADXXYG","created_at":"2026-05-18T12:31:08Z"},{"alias_kind":"pith_short_8","alias_value":"BZUK54BL","created_at":"2026-05-18T12:31:08Z"}],"graph_snapshots":[{"event_id":"sha256:b8d47b2f25d82e7c870b6b1e8f6048411d8ea937acd79f304547e6ed05ca81c7","target":"graph","created_at":"2026-05-18T00:40:53Z","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 the problem of achieving attitude consensus in spacecraft formations with bounded, time-varying communication delays between spacecraft connected as specified by a strongly connected topology. A state feedback con- troller is proposed and investigated using a time domain approach (via LMIs) and a frequency domain approach (via the small-gain theorem) to obtain delay depen- dent stability criteria to achieve the desired consensus. Simulations are presented to demonstrate the application of the strategy in a specific scenario.","authors_text":"Kamesh Subbarao, Siddharth H. Nair","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-07-04T23:43:44Z","title":"Attitude Control of Spacecraft Formations Subject To Distributed Communication Delays"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.01185","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":"sha256:9381fa44f3c238a74a03bc26c3fb857bd9eec4c050c7e2cd120b6dd26259774f","target":"record","created_at":"2026-05-18T00:40:53Z","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":"3408978b81a847315174cbb1a20c83c6fdba2d6ad5fafe6e58cb3cc3dd8722c3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-07-04T23:43:44Z","title_canon_sha256":"c95784636b92eaa6f530630d0fabd0ca4b762f457d21c7e019433269713320b2"},"schema_version":"1.0","source":{"id":"1707.01185","kind":"arxiv","version":1}},"canonical_sha256":"0e68aef02b6e403bdf06e791a72e78a1fd4aa573365c8771a240e6f92d14b20c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0e68aef02b6e403bdf06e791a72e78a1fd4aa573365c8771a240e6f92d14b20c","first_computed_at":"2026-05-18T00:40:53.488684Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:40:53.488684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N9uJ/fpBlzvLmqiVIP+jjxSNAr2lLLwPgORLqhUfppPgABGJWOftrAzqwX8cGfhRypS7ky8Ie+S7HDcAaEa+Aw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:40:53.489124Z","signed_message":"canonical_sha256_bytes"},"source_id":"1707.01185","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9381fa44f3c238a74a03bc26c3fb857bd9eec4c050c7e2cd120b6dd26259774f","sha256:b8d47b2f25d82e7c870b6b1e8f6048411d8ea937acd79f304547e6ed05ca81c7"],"state_sha256":"2b7fca4344f8bb2e5752ed130dfa723b709f664de61dd8fc2e47f7f5d4505b09"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C/QStAzJZ44nW9xGaQeAozvsUJy9ZYNlPdmLfbzcfbLgnG0cvwpzJh6iMPodpo0+RKio9ukdYXoR8p9isiygBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T00:49:37.522030Z","bundle_sha256":"748671f57c002c6405ad75c1775c7d10ee52decd085c266ca8acd2d4fd81968a"}}