{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:FUWXLSMUWR7KCS4MGY4TJDADPJ","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":"cb34084b74c3be930974898aad931175e68beed00cff4a917a3d2a26bc05f3ba","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-03-20T14:01:07Z","title_canon_sha256":"c468e178db1bdd1632e9eafeed3b97e9ef0033e2060aca90c6adceb4a7938f86"},"schema_version":"1.0","source":{"id":"2403.13609","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.13609","created_at":"2026-07-05T10:09:03Z"},{"alias_kind":"arxiv_version","alias_value":"2403.13609v2","created_at":"2026-07-05T10:09:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.13609","created_at":"2026-07-05T10:09:03Z"},{"alias_kind":"pith_short_12","alias_value":"FUWXLSMUWR7K","created_at":"2026-07-05T10:09:03Z"},{"alias_kind":"pith_short_16","alias_value":"FUWXLSMUWR7KCS4M","created_at":"2026-07-05T10:09:03Z"},{"alias_kind":"pith_short_8","alias_value":"FUWXLSMU","created_at":"2026-07-05T10:09:03Z"}],"graph_snapshots":[{"event_id":"sha256:6a0fb61a315a51f289bb6ce7047a2ebfdb78949d02817e5169938f4aa7484311","target":"graph","created_at":"2026-07-05T10:09:03Z","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/2403.13609/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables representing bispherical coordinates that uniquely describe the formation in 3D. Acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) are used to model the inter-agent sensing topology, while the agents' dynamics are governed by single-integrator model. Our analysis demonstrates that the proposed decentralized formation controller en","authors_text":"Dimos V. Dimarogonas, Farhad Mehdifar, Omid Mirzaeedodangeh","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-03-20T14:01:07Z","title":"3D Directed Formation Control with Global Shape Convergence using Bispherical Coordinates"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.13609","kind":"arxiv","version":2},"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":"sha256:1af27a17e24be8bb8ba0bc887c3ec07439fcbaeadd2ba6e8771c6dbb90830d1d","target":"record","created_at":"2026-07-05T10:09:03Z","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":"cb34084b74c3be930974898aad931175e68beed00cff4a917a3d2a26bc05f3ba","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2024-03-20T14:01:07Z","title_canon_sha256":"c468e178db1bdd1632e9eafeed3b97e9ef0033e2060aca90c6adceb4a7938f86"},"schema_version":"1.0","source":{"id":"2403.13609","kind":"arxiv","version":2}},"canonical_sha256":"2d2d75c994b47ea14b8c3639348c037a50fe845bd5f4db4094fc1e11b5f220e0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2d2d75c994b47ea14b8c3639348c037a50fe845bd5f4db4094fc1e11b5f220e0","first_computed_at":"2026-07-05T10:09:03.131406Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:09:03.131406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WsTvxEKSd9Gvxjw1+gZ6RYWE/bYiShW5cZpYuF8YKP6lGH1+LnYCQpgtiFCgxvwOJY7H2KKz45btByxIVAwSDw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:09:03.131854Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.13609","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1af27a17e24be8bb8ba0bc887c3ec07439fcbaeadd2ba6e8771c6dbb90830d1d","sha256:6a0fb61a315a51f289bb6ce7047a2ebfdb78949d02817e5169938f4aa7484311"],"state_sha256":"9beb6d1f46e96f7116a6a546e51a37582c2348142c4b13f11f85b39847b3c646"}