{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:LLPAYRIB23MF5E2PGYWUZF3UMY","short_pith_number":"pith:LLPAYRIB","canonical_record":{"source":{"id":"2503.12199","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-15T16:38:37Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"1d59a7a3018b1b824b99d53facf78a75e532e85d477ca66f39d4671474b5527e","abstract_canon_sha256":"0af8cb74110765ede6c7480266b5bdae9736bac4abb606dfa13a2b618f56e463"},"schema_version":"1.0"},"canonical_sha256":"5ade0c4501d6d85e934f362d4c9774663e297d2a3b1dd1638bb918d26dc0e789","source":{"kind":"arxiv","id":"2503.12199","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.12199","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"arxiv_version","alias_value":"2503.12199v1","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.12199","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_12","alias_value":"LLPAYRIB23MF","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_16","alias_value":"LLPAYRIB23MF5E2P","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_8","alias_value":"LLPAYRIB","created_at":"2026-07-05T10:32:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:LLPAYRIB23MF5E2PGYWUZF3UMY","target":"record","payload":{"canonical_record":{"source":{"id":"2503.12199","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-15T16:38:37Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"1d59a7a3018b1b824b99d53facf78a75e532e85d477ca66f39d4671474b5527e","abstract_canon_sha256":"0af8cb74110765ede6c7480266b5bdae9736bac4abb606dfa13a2b618f56e463"},"schema_version":"1.0"},"canonical_sha256":"5ade0c4501d6d85e934f362d4c9774663e297d2a3b1dd1638bb918d26dc0e789","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:32:07.314233Z","signature_b64":"sABA29tDUa3bV80oUMMX4K3Tcssir3BRqWsHqwzYeYd13atO1PKJIG0Vto7ogD9gx2ZiErnU5yH1ZzJY7UwMBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5ade0c4501d6d85e934f362d4c9774663e297d2a3b1dd1638bb918d26dc0e789","last_reissued_at":"2026-07-05T10:32:07.313684Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:32:07.313684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.12199","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":"2026-07-05T10:32:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oMPCg5tQUpkMgzjYboinplpsZNgEEBDYE/kKSoFeWi+SQTdqXeCtqTjLjzeWdPuyryxTDcoMzoTsKQn2ygrWCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:49:58.233567Z"},"content_sha256":"4051fc30a9d439bd2b09fae9acebd2dd5e40472e801b9e85dbbc2ecd57f8f9f2","schema_version":"1.0","event_id":"sha256:4051fc30a9d439bd2b09fae9acebd2dd5e40472e801b9e85dbbc2ecd57f8f9f2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:LLPAYRIB23MF5E2PGYWUZF3UMY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Formation Control of Multi-agent System with Local Interaction and Artificial Potential Field","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Luoyin Zhao, Raye Chen-Hua Yeow, Yuqing Wang, Zheping Yan","submitted_at":"2025-03-15T16:38:37Z","abstract_excerpt":"A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of information consensus and leader follower frame, the agents can obtain the state information of the leader by interacting with their neighbours, which will reduce the communication overhead of the system and the dependence on a single node of the topology. In addition, the artificial potential field (APF) method is introduced to achieve obstacle avoidance and collisi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.12199","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/2503.12199/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":"2026-07-05T10:32:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fYkRW0h2oaYac+Pus9pIIhY/g/6VZyVN7uJ4AuWs9RRB69nrNHnidhC7T9nj5QiydoZgbD+qulPOGruSP+EcDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:49:58.234132Z"},"content_sha256":"d61a3f86a6509814c25225e5173aefcdbf9e4acae042b2423e7252fa33bfd5b9","schema_version":"1.0","event_id":"sha256:d61a3f86a6509814c25225e5173aefcdbf9e4acae042b2423e7252fa33bfd5b9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/bundle.json","state_url":"https://pith.science/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/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":"2026-08-20T13:49:58Z","links":{"resolver":"https://pith.science/pith/LLPAYRIB23MF5E2PGYWUZF3UMY","bundle":"https://pith.science/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/bundle.json","state":"https://pith.science/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LLPAYRIB23MF5E2PGYWUZF3UMY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:LLPAYRIB23MF5E2PGYWUZF3UMY","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":"0af8cb74110765ede6c7480266b5bdae9736bac4abb606dfa13a2b618f56e463","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-15T16:38:37Z","title_canon_sha256":"1d59a7a3018b1b824b99d53facf78a75e532e85d477ca66f39d4671474b5527e"},"schema_version":"1.0","source":{"id":"2503.12199","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.12199","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"arxiv_version","alias_value":"2503.12199v1","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.12199","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_12","alias_value":"LLPAYRIB23MF","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_16","alias_value":"LLPAYRIB23MF5E2P","created_at":"2026-07-05T10:32:07Z"},{"alias_kind":"pith_short_8","alias_value":"LLPAYRIB","created_at":"2026-07-05T10:32:07Z"}],"graph_snapshots":[{"event_id":"sha256:d61a3f86a6509814c25225e5173aefcdbf9e4acae042b2423e7252fa33bfd5b9","target":"graph","created_at":"2026-07-05T10:32:07Z","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/2503.12199/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A novel local interaction control method (LICM) is proposed in this paper to realize the formation control of multi-agent system (MAS). A local interaction leader follower (LILF) structure is provided by coupling the advantages of information consensus and leader follower frame, the agents can obtain the state information of the leader by interacting with their neighbours, which will reduce the communication overhead of the system and the dependence on a single node of the topology. In addition, the artificial potential field (APF) method is introduced to achieve obstacle avoidance and collisi","authors_text":"Luoyin Zhao, Raye Chen-Hua Yeow, Yuqing Wang, Zheping Yan","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-15T16:38:37Z","title":"Formation Control of Multi-agent System with Local Interaction and Artificial Potential Field"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.12199","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":"sha256:4051fc30a9d439bd2b09fae9acebd2dd5e40472e801b9e85dbbc2ecd57f8f9f2","target":"record","created_at":"2026-07-05T10:32:07Z","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":"0af8cb74110765ede6c7480266b5bdae9736bac4abb606dfa13a2b618f56e463","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-15T16:38:37Z","title_canon_sha256":"1d59a7a3018b1b824b99d53facf78a75e532e85d477ca66f39d4671474b5527e"},"schema_version":"1.0","source":{"id":"2503.12199","kind":"arxiv","version":1}},"canonical_sha256":"5ade0c4501d6d85e934f362d4c9774663e297d2a3b1dd1638bb918d26dc0e789","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5ade0c4501d6d85e934f362d4c9774663e297d2a3b1dd1638bb918d26dc0e789","first_computed_at":"2026-07-05T10:32:07.313684Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:32:07.313684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sABA29tDUa3bV80oUMMX4K3Tcssir3BRqWsHqwzYeYd13atO1PKJIG0Vto7ogD9gx2ZiErnU5yH1ZzJY7UwMBw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:32:07.314233Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.12199","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4051fc30a9d439bd2b09fae9acebd2dd5e40472e801b9e85dbbc2ecd57f8f9f2","sha256:d61a3f86a6509814c25225e5173aefcdbf9e4acae042b2423e7252fa33bfd5b9"],"state_sha256":"170e19bbca496a2cf0aac8ff1fd9dcf739ec3100a2fcf107a0ca4706bd919a6c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aP48ze/WKh6sB5Iz1QP1W98RJUW9xGY0F+N2dNL6i+n+bhfa47Ffau9o5SMFKRhTM5qnysWLF9u3d5LSLw+oDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T13:49:58.238046Z","bundle_sha256":"1bc642952033c316cbe24c662091cf8890e2570610ffec9df8102a6072124f1d"}}