{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:JPL7H5A5XXQ45WPQTQ6GFRQC4D","short_pith_number":"pith:JPL7H5A5","canonical_record":{"source":{"id":"1610.01297","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T07:35:49Z","cross_cats_sorted":[],"title_canon_sha256":"5dd6a66ea1e521166e1c054c51ea44ad70b529d1acb8a37356eb5cd1572fbbf8","abstract_canon_sha256":"1441ca7623b0561e3e402362aea8d2e050f74c29a54ba518bbfb200b6db51ddf"},"schema_version":"1.0"},"canonical_sha256":"4bd7f3f41dbde1ced9f09c3c62c602e0c204c8a75e60c7e23dbefcc8e5494b42","source":{"kind":"arxiv","id":"1610.01297","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01297","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01297v4","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01297","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"pith_short_12","alias_value":"JPL7H5A5XXQ4","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"JPL7H5A5XXQ45WPQ","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"JPL7H5A5","created_at":"2026-05-18T12:30:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:JPL7H5A5XXQ45WPQTQ6GFRQC4D","target":"record","payload":{"canonical_record":{"source":{"id":"1610.01297","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T07:35:49Z","cross_cats_sorted":[],"title_canon_sha256":"5dd6a66ea1e521166e1c054c51ea44ad70b529d1acb8a37356eb5cd1572fbbf8","abstract_canon_sha256":"1441ca7623b0561e3e402362aea8d2e050f74c29a54ba518bbfb200b6db51ddf"},"schema_version":"1.0"},"canonical_sha256":"4bd7f3f41dbde1ced9f09c3c62c602e0c204c8a75e60c7e23dbefcc8e5494b42","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:46:51.652365Z","signature_b64":"82C/gdCEGq5xVCaqy6EJirP6+hohkgZbRt7caiTJlJZzaxxx2Fh8C9ICko4k+cH1gDJK6EIf9MubP0pFMsGxDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4bd7f3f41dbde1ced9f09c3c62c602e0c204c8a75e60c7e23dbefcc8e5494b42","last_reissued_at":"2026-05-18T00:46:51.651737Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:46:51.651737Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1610.01297","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:46:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YJLEN03qOkGBij2oTnt0KQNlkjfBLIHA6Ws1k/AHqtpCSZTE/x3IHjK+7Rz5GK321EVzR1iRPKZLfPwCNDdSCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T16:01:30.553302Z"},"content_sha256":"c558f26fa8da143ac5b3f32c45fba9a99bece629684fb246de41c3edab445176","schema_version":"1.0","event_id":"sha256:c558f26fa8da143ac5b3f32c45fba9a99bece629684fb246de41c3edab445176"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:JPL7H5A5XXQ45WPQTQ6GFRQC4D","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust Quaternion-based Cooperative Manipulation without Force/Torque Information","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christos K. Verginis, Dimos V. Dimarogonas, Matteo Mastellaro","submitted_at":"2016-10-05T07:35:49Z","abstract_excerpt":"This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own and the object's dynamic/kinematic parameters and no on-line communication takes place. Moreover, no feedback of the contact forces/torques is required, therefore employment of corresponding sensors is avoided. An adaptive version of the control scheme is also introduced, where the agents' and object's dynamic parameters are considered unknown. We also use "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01297","kind":"arxiv","version":4},"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":"2026-05-18T00:46:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/pu+jdvYQdo6AtW8PKfKSQYESPUCzLekOLuEcpO6gFe8wgEo8XL3PwLTQrtvheUeDo+arvtWrSCep+VrOqyYCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T16:01:30.553954Z"},"content_sha256":"48ad9c4e50b201a683215a06f59c3f1e118f1019be315a76452b1b96b819aa56","schema_version":"1.0","event_id":"sha256:48ad9c4e50b201a683215a06f59c3f1e118f1019be315a76452b1b96b819aa56"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/bundle.json","state_url":"https://pith.science/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/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":"2026-06-02T16:01:30Z","links":{"resolver":"https://pith.science/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D","bundle":"https://pith.science/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/bundle.json","state":"https://pith.science/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JPL7H5A5XXQ45WPQTQ6GFRQC4D/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:JPL7H5A5XXQ45WPQTQ6GFRQC4D","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":"1441ca7623b0561e3e402362aea8d2e050f74c29a54ba518bbfb200b6db51ddf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T07:35:49Z","title_canon_sha256":"5dd6a66ea1e521166e1c054c51ea44ad70b529d1acb8a37356eb5cd1572fbbf8"},"schema_version":"1.0","source":{"id":"1610.01297","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01297","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01297v4","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01297","created_at":"2026-05-18T00:46:51Z"},{"alias_kind":"pith_short_12","alias_value":"JPL7H5A5XXQ4","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"JPL7H5A5XXQ45WPQ","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"JPL7H5A5","created_at":"2026-05-18T12:30:25Z"}],"graph_snapshots":[{"event_id":"sha256:48ad9c4e50b201a683215a06f59c3f1e118f1019be315a76452b1b96b819aa56","target":"graph","created_at":"2026-05-18T00:46:51Z","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 proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own and the object's dynamic/kinematic parameters and no on-line communication takes place. Moreover, no feedback of the contact forces/torques is required, therefore employment of corresponding sensors is avoided. An adaptive version of the control scheme is also introduced, where the agents' and object's dynamic parameters are considered unknown. We also use ","authors_text":"Christos K. Verginis, Dimos V. Dimarogonas, Matteo Mastellaro","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T07:35:49Z","title":"Robust Quaternion-based Cooperative Manipulation without Force/Torque Information"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01297","kind":"arxiv","version":4},"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:c558f26fa8da143ac5b3f32c45fba9a99bece629684fb246de41c3edab445176","target":"record","created_at":"2026-05-18T00:46:51Z","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":"1441ca7623b0561e3e402362aea8d2e050f74c29a54ba518bbfb200b6db51ddf","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T07:35:49Z","title_canon_sha256":"5dd6a66ea1e521166e1c054c51ea44ad70b529d1acb8a37356eb5cd1572fbbf8"},"schema_version":"1.0","source":{"id":"1610.01297","kind":"arxiv","version":4}},"canonical_sha256":"4bd7f3f41dbde1ced9f09c3c62c602e0c204c8a75e60c7e23dbefcc8e5494b42","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4bd7f3f41dbde1ced9f09c3c62c602e0c204c8a75e60c7e23dbefcc8e5494b42","first_computed_at":"2026-05-18T00:46:51.651737Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:46:51.651737Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"82C/gdCEGq5xVCaqy6EJirP6+hohkgZbRt7caiTJlJZzaxxx2Fh8C9ICko4k+cH1gDJK6EIf9MubP0pFMsGxDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:46:51.652365Z","signed_message":"canonical_sha256_bytes"},"source_id":"1610.01297","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c558f26fa8da143ac5b3f32c45fba9a99bece629684fb246de41c3edab445176","sha256:48ad9c4e50b201a683215a06f59c3f1e118f1019be315a76452b1b96b819aa56"],"state_sha256":"0ea61f12f8073192b1a2bcd62af3ff0d4d825d2bc4036725e947a3553239d68a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3yURBRBAx73M40In4D0Jktkpq+VSlKXc07/YMfiAtd/ZqzNZAOBFS2R8lMJrWPlCOgMDFaCiG+zBIZUWadPxDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T16:01:30.557353Z","bundle_sha256":"93c509e2e32299301790fd521264d008460887496adafe30871e08d38b272e97"}}