{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:EYLZFBPI3VBSNKTO3T7JOABGNE","short_pith_number":"pith:EYLZFBPI","canonical_record":{"source":{"id":"2402.08245","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T06:19:11Z","cross_cats_sorted":[],"title_canon_sha256":"b8fdc38eee75d0cf4b18bf700863c816c749392fbc6ee7594d7018d98544e406","abstract_canon_sha256":"db4794e0d6ec1a83e0111d74f22e35cfbdfa761a17a6014699fb0d96ede775e4"},"schema_version":"1.0"},"canonical_sha256":"26179285e8dd4326aa6edcfe97002669061c2fa9a7576e0ebf4c8e755ef2fce1","source":{"kind":"arxiv","id":"2402.08245","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.08245","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"arxiv_version","alias_value":"2402.08245v1","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.08245","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_12","alias_value":"EYLZFBPI3VBS","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_16","alias_value":"EYLZFBPI3VBSNKTO","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_8","alias_value":"EYLZFBPI","created_at":"2026-07-05T07:44:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:EYLZFBPI3VBSNKTO3T7JOABGNE","target":"record","payload":{"canonical_record":{"source":{"id":"2402.08245","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T06:19:11Z","cross_cats_sorted":[],"title_canon_sha256":"b8fdc38eee75d0cf4b18bf700863c816c749392fbc6ee7594d7018d98544e406","abstract_canon_sha256":"db4794e0d6ec1a83e0111d74f22e35cfbdfa761a17a6014699fb0d96ede775e4"},"schema_version":"1.0"},"canonical_sha256":"26179285e8dd4326aa6edcfe97002669061c2fa9a7576e0ebf4c8e755ef2fce1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:44:29.725683Z","signature_b64":"es/AL4Tl6IB6FM78fwHWlKXFZ6sZXELaLlzUStCL0Wm63MbzTtP8JNRhcAFoeI0uIrNT+RjJSc6GzmL0IHgJBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"26179285e8dd4326aa6edcfe97002669061c2fa9a7576e0ebf4c8e755ef2fce1","last_reissued_at":"2026-07-05T07:44:29.725197Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:44:29.725197Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.08245","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":"2026-07-05T07:44:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"70wsqTBEjO1ETURAcIoKLxorIkcU3MMOQ6zP46s9TXrkrtA6PrO/8iR2OErmijcsbkoVzT0qdMyMFe8JZBqPAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:39:49.070575Z"},"content_sha256":"5f4669f31fb28323c56d17dc35050f63e4bfa69ceaaf110b11c371551daff8a0","schema_version":"1.0","event_id":"sha256:5f4669f31fb28323c56d17dc35050f63e4bfa69ceaaf110b11c371551daff8a0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:EYLZFBPI3VBSNKTO3T7JOABGNE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Reconfigurable V-shape Formation of Multiple UAVs in Narrow Space Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Duy Nam Bui, Hung Pham Duy, Manh Duong Phung","submitted_at":"2024-02-13T06:19:11Z","abstract_excerpt":"This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibility advantages. The main objective is to develop an effective formation control strategy that allows UAVs to autonomously adjust their positions to form the desired formation while navigating through obstacles. To achieve this, we propose a distributed behavior-based control algorithm that combines"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.08245","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2402.08245/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T07:44:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KIkdJKZ5ISgsvrQqm8TCArwSbJNjgUcgkFiLEl8YMeoW6FUUUsFhENx/FF8QFWtY9sj9w9qY132OaCiQKhILBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T22:39:49.071067Z"},"content_sha256":"fb64f1b29bc4619d7a91527467161cb8af8997c59e53826617d0cf28d69ea713","schema_version":"1.0","event_id":"sha256:fb64f1b29bc4619d7a91527467161cb8af8997c59e53826617d0cf28d69ea713"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/bundle.json","state_url":"https://pith.science/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/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":"2026-08-06T22:39:49Z","links":{"resolver":"https://pith.science/pith/EYLZFBPI3VBSNKTO3T7JOABGNE","bundle":"https://pith.science/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/bundle.json","state":"https://pith.science/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EYLZFBPI3VBSNKTO3T7JOABGNE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:EYLZFBPI3VBSNKTO3T7JOABGNE","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":"db4794e0d6ec1a83e0111d74f22e35cfbdfa761a17a6014699fb0d96ede775e4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T06:19:11Z","title_canon_sha256":"b8fdc38eee75d0cf4b18bf700863c816c749392fbc6ee7594d7018d98544e406"},"schema_version":"1.0","source":{"id":"2402.08245","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.08245","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"arxiv_version","alias_value":"2402.08245v1","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.08245","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_12","alias_value":"EYLZFBPI3VBS","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_16","alias_value":"EYLZFBPI3VBSNKTO","created_at":"2026-07-05T07:44:29Z"},{"alias_kind":"pith_short_8","alias_value":"EYLZFBPI","created_at":"2026-07-05T07:44:29Z"}],"graph_snapshots":[{"event_id":"sha256:fb64f1b29bc4619d7a91527467161cb8af8997c59e53826617d0cf28d69ea713","target":"graph","created_at":"2026-07-05T07:44:29Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2402.08245/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibility advantages. The main objective is to develop an effective formation control strategy that allows UAVs to autonomously adjust their positions to form the desired formation while navigating through obstacles. To achieve this, we propose a distributed behavior-based control algorithm that combines","authors_text":"Duy Nam Bui, Hung Pham Duy, Manh Duong Phung","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T06:19:11Z","title":"Self-Reconfigurable V-shape Formation of Multiple UAVs in Narrow Space Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.08245","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":"sha256:5f4669f31fb28323c56d17dc35050f63e4bfa69ceaaf110b11c371551daff8a0","target":"record","created_at":"2026-07-05T07:44:29Z","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":"db4794e0d6ec1a83e0111d74f22e35cfbdfa761a17a6014699fb0d96ede775e4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-13T06:19:11Z","title_canon_sha256":"b8fdc38eee75d0cf4b18bf700863c816c749392fbc6ee7594d7018d98544e406"},"schema_version":"1.0","source":{"id":"2402.08245","kind":"arxiv","version":1}},"canonical_sha256":"26179285e8dd4326aa6edcfe97002669061c2fa9a7576e0ebf4c8e755ef2fce1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"26179285e8dd4326aa6edcfe97002669061c2fa9a7576e0ebf4c8e755ef2fce1","first_computed_at":"2026-07-05T07:44:29.725197Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:44:29.725197Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"es/AL4Tl6IB6FM78fwHWlKXFZ6sZXELaLlzUStCL0Wm63MbzTtP8JNRhcAFoeI0uIrNT+RjJSc6GzmL0IHgJBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:44:29.725683Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.08245","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5f4669f31fb28323c56d17dc35050f63e4bfa69ceaaf110b11c371551daff8a0","sha256:fb64f1b29bc4619d7a91527467161cb8af8997c59e53826617d0cf28d69ea713"],"state_sha256":"c5d0b821a9d52ee58ddead22aa64fc72d7652ffd942fc67434c6a6aaf32457dd"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"52H/enJIW5HjGt5gNT8yT9qnIQu1ex15gYEU0I3S3T7vFuOY1p2/h+gRdOW4zt5SgRz6V4xUFShJ3goKQvMlBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T22:39:49.075718Z","bundle_sha256":"a087abc78340a0dd70659306127662a736cbefbdada00d207fa058225c9ced08"}}