{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:DPDX26ARTU3GYJJE3SZX3IZYYP","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":"ac921044c72728616e45278a2328d6d1d70bda62d523212c1017d17a810cb725","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-08-10T11:58:53Z","title_canon_sha256":"b3e75e0c6361f3c6292e29f2ac198af95c7590917c41aa4ee93f15b7d04b86d0"},"schema_version":"1.0","source":{"id":"1708.03591","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1708.03591","created_at":"2026-05-18T00:38:12Z"},{"alias_kind":"arxiv_version","alias_value":"1708.03591v1","created_at":"2026-05-18T00:38:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1708.03591","created_at":"2026-05-18T00:38:12Z"},{"alias_kind":"pith_short_12","alias_value":"DPDX26ARTU3G","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_16","alias_value":"DPDX26ARTU3GYJJE","created_at":"2026-05-18T12:31:12Z"},{"alias_kind":"pith_short_8","alias_value":"DPDX26AR","created_at":"2026-05-18T12:31:12Z"}],"graph_snapshots":[{"event_id":"sha256:2db5ef4ae5277ae681b5bf6a4a5b33b2de69c0e8be578f0f069c3f9388f10780","target":"graph","created_at":"2026-05-18T00:38:12Z","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":"In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation in 3-dimensional space. Since agents do not share a common reference frame, orientations of the local reference frame are not aligned with each other. Under the orientation estimation law, a rotation matrix that identifies orientation of local frame with respect to a common frame is obtained by auxiliary variables. The proposed strategy includes a combination of global orientation estimation and formation control law.","authors_text":"Byung-Hun Lee, Hyo-Sung Ahn","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-08-10T11:58:53Z","title":"Formation Control and Network Localization via Distributed Global Orientation Estimation in $3$-D"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1708.03591","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:ea82599617048122327c10807c4d9403934b91c41c42eab15c030727bf761e86","target":"record","created_at":"2026-05-18T00:38:12Z","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":"ac921044c72728616e45278a2328d6d1d70bda62d523212c1017d17a810cb725","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-08-10T11:58:53Z","title_canon_sha256":"b3e75e0c6361f3c6292e29f2ac198af95c7590917c41aa4ee93f15b7d04b86d0"},"schema_version":"1.0","source":{"id":"1708.03591","kind":"arxiv","version":1}},"canonical_sha256":"1bc77d78119d366c2524dcb37da338c3d803ced68131596bd0d8288083427291","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1bc77d78119d366c2524dcb37da338c3d803ced68131596bd0d8288083427291","first_computed_at":"2026-05-18T00:38:12.292603Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:38:12.292603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CZOwAyEC1jlmGhHMqRLSQKl84O0TMmY15ZHH+OlNxlN3lvwmAVrv8KjvDsiIBUadsadnCb0x2CmAVEsFnsNcAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:38:12.293310Z","signed_message":"canonical_sha256_bytes"},"source_id":"1708.03591","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea82599617048122327c10807c4d9403934b91c41c42eab15c030727bf761e86","sha256:2db5ef4ae5277ae681b5bf6a4a5b33b2de69c0e8be578f0f069c3f9388f10780"],"state_sha256":"7c326ec51822dbcdf4c534e3c81d0e9dbffc77dbbc3c0fefdcadb48a47c1d0a8"}