{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:LPHOWKTVXT6CNWLVYYPR3S76D4","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":"4e0b86c287352456c2a0e8120181ebe1410387995e90e9028f61fff9e4398e19","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-06T21:48:53Z","title_canon_sha256":"d87bfd4ff739fc32bbbd2299779942dd8f0865db9c718fb857b1ffd1eb5a86aa"},"schema_version":"1.0","source":{"id":"2005.03153","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.03153","created_at":"2026-07-05T03:07:18Z"},{"alias_kind":"arxiv_version","alias_value":"2005.03153v3","created_at":"2026-07-05T03:07:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.03153","created_at":"2026-07-05T03:07:18Z"},{"alias_kind":"pith_short_12","alias_value":"LPHOWKTVXT6C","created_at":"2026-07-05T03:07:18Z"},{"alias_kind":"pith_short_16","alias_value":"LPHOWKTVXT6CNWLV","created_at":"2026-07-05T03:07:18Z"},{"alias_kind":"pith_short_8","alias_value":"LPHOWKTV","created_at":"2026-07-05T03:07:18Z"}],"graph_snapshots":[{"event_id":"sha256:6be7624881a810745b6fd958dc18846a7c3f511422dbaf3946b61d83a382cef4","target":"graph","created_at":"2026-07-05T03:07:18Z","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/2005.03153/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the object. They can, however, access a common state measurement, either from one robot broadcasting its measurements to the team, or by all robots communicating and averaging their state measurements to estimate the state of their centroid. To solve this problem, we propose a decentralized adaptive control scheme wherein each agent maintains and adapts its own esti","authors_text":"Jean-Jacques E. Slotine, Mac Schwager, Preston Culbertson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-06T21:48:53Z","title":"Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.03153","kind":"arxiv","version":3},"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":"sha256:0fc44e173bd5b1a92f02ecc09e00f3b183b8471077b98b8894a9f7da6e8cd06d","target":"record","created_at":"2026-07-05T03:07:18Z","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":"4e0b86c287352456c2a0e8120181ebe1410387995e90e9028f61fff9e4398e19","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-06T21:48:53Z","title_canon_sha256":"d87bfd4ff739fc32bbbd2299779942dd8f0865db9c718fb857b1ffd1eb5a86aa"},"schema_version":"1.0","source":{"id":"2005.03153","kind":"arxiv","version":3}},"canonical_sha256":"5bceeb2a75bcfc26d975c61f1dcbfe1f3ebc0356d567df1e4c2f1eaa899c09f8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5bceeb2a75bcfc26d975c61f1dcbfe1f3ebc0356d567df1e4c2f1eaa899c09f8","first_computed_at":"2026-07-05T03:07:18.867269Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:07:18.867269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"t+psVPX64R7qL2MUiGuE95dl1kbnFQbBYq+D5Es1mhXZacOzuvr3Fjr8BNrptpz0eUOho0CiAlVa/en714ZbCw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:07:18.867734Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.03153","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0fc44e173bd5b1a92f02ecc09e00f3b183b8471077b98b8894a9f7da6e8cd06d","sha256:6be7624881a810745b6fd958dc18846a7c3f511422dbaf3946b61d83a382cef4"],"state_sha256":"79aa941ed307e16a623c591426ca8cff5f068289ee9c9ebd8bb5e2ed2f9f878f"}