{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2013:FQJW2FDJNK6RHZYJCRGZLYVJAP","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":"da7556fdc5717080a36cd0603dbacde4a33063e8c42dd5c75b89609e93c81a60","cross_cats_sorted":["math.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-10-13T15:05:58Z","title_canon_sha256":"56683c53052e6be52230ba18dbee74c8912df9bebed4935bc15df7fbb880df4b"},"schema_version":"1.0","source":{"id":"1310.3489","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1310.3489","created_at":"2026-05-18T03:10:35Z"},{"alias_kind":"arxiv_version","alias_value":"1310.3489v1","created_at":"2026-05-18T03:10:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1310.3489","created_at":"2026-05-18T03:10:35Z"},{"alias_kind":"pith_short_12","alias_value":"FQJW2FDJNK6R","created_at":"2026-05-18T12:27:45Z"},{"alias_kind":"pith_short_16","alias_value":"FQJW2FDJNK6RHZYJ","created_at":"2026-05-18T12:27:45Z"},{"alias_kind":"pith_short_8","alias_value":"FQJW2FDJ","created_at":"2026-05-18T12:27:45Z"}],"graph_snapshots":[{"event_id":"sha256:403df727102bd159d23b824cce686a2c08265a798c4c2c53d893a4fc8c1724e6","target":"graph","created_at":"2026-05-18T03:10:35Z","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 focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances. This study has analyzed the stability properties of this archi","authors_text":"Magnus Egerstedt, Tansel Yucelen","cross_cats":["math.DS"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-10-13T15:05:58Z","title":"Distributed Control of Multiagent Systems under Unknown Persistent Disturbances"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1310.3489","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":"sha256:453f0ee9891c16db4894f7c1d3779eeaf04777c9706730e20111e283edbc8408","target":"record","created_at":"2026-05-18T03:10:35Z","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":"da7556fdc5717080a36cd0603dbacde4a33063e8c42dd5c75b89609e93c81a60","cross_cats_sorted":["math.DS"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-10-13T15:05:58Z","title_canon_sha256":"56683c53052e6be52230ba18dbee74c8912df9bebed4935bc15df7fbb880df4b"},"schema_version":"1.0","source":{"id":"1310.3489","kind":"arxiv","version":1}},"canonical_sha256":"2c136d14696abd13e709144d95e2a903cc953fbb566269d7d664796a606622dc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c136d14696abd13e709144d95e2a903cc953fbb566269d7d664796a606622dc","first_computed_at":"2026-05-18T03:10:35.573477Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:10:35.573477Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"5JWuWFffahn8zlnQ946XLurWM3Uahga3Aq1ksn8viQmbCWlUOWwETUis4vg01MNIZUTN5jAzRQMvPr+LihQZBg==","signature_status":"signed_v1","signed_at":"2026-05-18T03:10:35.573915Z","signed_message":"canonical_sha256_bytes"},"source_id":"1310.3489","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:453f0ee9891c16db4894f7c1d3779eeaf04777c9706730e20111e283edbc8408","sha256:403df727102bd159d23b824cce686a2c08265a798c4c2c53d893a4fc8c1724e6"],"state_sha256":"641b45630a9b1ae6e8b79a3dcc86ea5be101a09312198edd31167657a40ca34a"}