{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2013:MYEAFM3YY7RCASLZEFLIBDL7FG","short_pith_number":"pith:MYEAFM3Y","schema_version":"1.0","canonical_sha256":"660802b378c7e22049792156808d7f29bc4bba1d240a50414d13ee907b6897fa","source":{"kind":"arxiv","id":"1305.3797","version":1},"attestation_state":"computed","paper":{"title":"Formation control with pole placement for multi-agent systems","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","headline":"","cross_cats":["cs.MA","cs.SY"],"primary_cat":"math.OC","authors_text":"Ameer K. Mulla, Debraj Chakraborty, Madhu N. Belur, Rachel K. Kalaimani","submitted_at":"2013-05-16T13:34:19Z","abstract_excerpt":"The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One of the agents is designated as the leader. If the communication graph contains a directed spanning tree with the leader node as the root, then it is possible to place the poles of the ensemble system with purely local feedback controller gains. Given a desired formation, first one of the poles is placed at the origin. Then it is shown that the inter-agent w"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1305.3797","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"math.OC","submitted_at":"2013-05-16T13:34:19Z","cross_cats_sorted":["cs.MA","cs.SY"],"title_canon_sha256":"8a3c58cca463862d93dd4cbb33c4e77c0602589394c5300d544d673708d66880","abstract_canon_sha256":"d68f1aa0715a93d2d49a61e696538ed877706a6fec02dfd829928dc25d153ac3"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:25:33.887815Z","signature_b64":"RuS8Pdwjnkhl6PcebCny7tx3Dd+awssyJNQwnDK/EXQFyBxpOcnIs3i3Rhps129ZBRDjFcFXjDSIz5cWvziYAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"660802b378c7e22049792156808d7f29bc4bba1d240a50414d13ee907b6897fa","last_reissued_at":"2026-05-18T03:25:33.887288Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:25:33.887288Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Formation control with pole placement for multi-agent systems","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","headline":"","cross_cats":["cs.MA","cs.SY"],"primary_cat":"math.OC","authors_text":"Ameer K. Mulla, Debraj Chakraborty, Madhu N. Belur, Rachel K. Kalaimani","submitted_at":"2013-05-16T13:34:19Z","abstract_excerpt":"The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One of the agents is designated as the leader. If the communication graph contains a directed spanning tree with the leader node as the root, then it is possible to place the poles of the ensemble system with purely local feedback controller gains. Given a desired formation, first one of the poles is placed at the origin. Then it is shown that the inter-agent w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1305.3797","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":""},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1305.3797","created_at":"2026-05-18T03:25:33.887383+00:00"},{"alias_kind":"arxiv_version","alias_value":"1305.3797v1","created_at":"2026-05-18T03:25:33.887383+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1305.3797","created_at":"2026-05-18T03:25:33.887383+00:00"},{"alias_kind":"pith_short_12","alias_value":"MYEAFM3YY7RC","created_at":"2026-05-18T12:27:52.871228+00:00"},{"alias_kind":"pith_short_16","alias_value":"MYEAFM3YY7RCASLZ","created_at":"2026-05-18T12:27:52.871228+00:00"},{"alias_kind":"pith_short_8","alias_value":"MYEAFM3Y","created_at":"2026-05-18T12:27:52.871228+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG","json":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG.json","graph_json":"https://pith.science/api/pith-number/MYEAFM3YY7RCASLZEFLIBDL7FG/graph.json","events_json":"https://pith.science/api/pith-number/MYEAFM3YY7RCASLZEFLIBDL7FG/events.json","paper":"https://pith.science/paper/MYEAFM3Y"},"agent_actions":{"view_html":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG","download_json":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG.json","view_paper":"https://pith.science/paper/MYEAFM3Y","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1305.3797&json=true","fetch_graph":"https://pith.science/api/pith-number/MYEAFM3YY7RCASLZEFLIBDL7FG/graph.json","fetch_events":"https://pith.science/api/pith-number/MYEAFM3YY7RCASLZEFLIBDL7FG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG/action/storage_attestation","attest_author":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG/action/author_attestation","sign_citation":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG/action/citation_signature","submit_replication":"https://pith.science/pith/MYEAFM3YY7RCASLZEFLIBDL7FG/action/replication_record"}},"created_at":"2026-05-18T03:25:33.887383+00:00","updated_at":"2026-05-18T03:25:33.887383+00:00"}