{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:NGXF4MMDTDAWKQN4DVZEMKROHI","short_pith_number":"pith:NGXF4MMD","canonical_record":{"source":{"id":"1903.09193","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-21T18:48:01Z","cross_cats_sorted":[],"title_canon_sha256":"c2548ecee62794959d9f8d8f23ec900eeba700bc093091b4b1872347f231218b","abstract_canon_sha256":"38f9ee742f523437eeeb867d689c26845af7672dabac78ffe049c15b7ccce175"},"schema_version":"1.0"},"canonical_sha256":"69ae5e318398c16541bc1d72462a2e3a28440db8ce06b6cd9e2f756788e29d3c","source":{"kind":"arxiv","id":"1903.09193","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09193","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09193v1","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09193","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"pith_short_12","alias_value":"NGXF4MMDTDAW","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_16","alias_value":"NGXF4MMDTDAWKQN4","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_8","alias_value":"NGXF4MMD","created_at":"2026-05-18T12:33:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:NGXF4MMDTDAWKQN4DVZEMKROHI","target":"record","payload":{"canonical_record":{"source":{"id":"1903.09193","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-21T18:48:01Z","cross_cats_sorted":[],"title_canon_sha256":"c2548ecee62794959d9f8d8f23ec900eeba700bc093091b4b1872347f231218b","abstract_canon_sha256":"38f9ee742f523437eeeb867d689c26845af7672dabac78ffe049c15b7ccce175"},"schema_version":"1.0"},"canonical_sha256":"69ae5e318398c16541bc1d72462a2e3a28440db8ce06b6cd9e2f756788e29d3c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:50:40.368938Z","signature_b64":"lgVzmAVbz8oPhMdn80qGpRSa9/C/LCm3gZhGTaBC4I+/KczYAmqDCVIHCkVEkuvHYS8Qzprh/bW0OnEG0vysCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"69ae5e318398c16541bc1d72462a2e3a28440db8ce06b6cd9e2f756788e29d3c","last_reissued_at":"2026-05-17T23:50:40.368530Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:50:40.368530Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.09193","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":"2026-05-17T23:50:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QSi0kE41kR8y44q3I4IZ2h6ciZG963XVqZRfPvTMvFRXXJ7sQkSVhYsdR7phkfmd4xaKr2fG43LLrmcz2KzuDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T18:05:00.837089Z"},"content_sha256":"97a856d8adca503e574c506f2d08e948860c2cebc02110271a2ce5087d39893c","schema_version":"1.0","event_id":"sha256:97a856d8adca503e574c506f2d08e948860c2cebc02110271a2ce5087d39893c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:NGXF4MMDTDAWKQN4DVZEMKROHI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-agent deployment under the leader displacement measurement: a PDE-based approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Anton Selivanov, Emilia Fridman, Jieqiang Wei, Karl H. Johansson","submitted_at":"2019-03-21T18:48:01Z","abstract_excerpt":"We study the deployment of a first-order multi-agent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest neighbors, whereas in addition a leader is able to measure his absolute displacement with respect to the desired curve. In this paper we consider the case that the desired curve is a closed C^2 curve and we assume that the leader transmit his measurement to other agents through a communication network. We start the algorithm with displacement-based formation "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09193","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:50:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2EO4SyuHFdfX/OZo8PqzTmB4klGsBpvLIcQ3oZUfjYSPHoA8mSjM6GdBssXO9M4VKHhkQSnuJel4mhOWwEtkAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T18:05:00.837472Z"},"content_sha256":"612995a8bed3d18fe9963d06b0bc18d1ce46988be752c8ad25d1dea291c872e7","schema_version":"1.0","event_id":"sha256:612995a8bed3d18fe9963d06b0bc18d1ce46988be752c8ad25d1dea291c872e7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/bundle.json","state_url":"https://pith.science/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/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":"2026-05-27T18:05:00Z","links":{"resolver":"https://pith.science/pith/NGXF4MMDTDAWKQN4DVZEMKROHI","bundle":"https://pith.science/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/bundle.json","state":"https://pith.science/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NGXF4MMDTDAWKQN4DVZEMKROHI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:NGXF4MMDTDAWKQN4DVZEMKROHI","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":"38f9ee742f523437eeeb867d689c26845af7672dabac78ffe049c15b7ccce175","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-21T18:48:01Z","title_canon_sha256":"c2548ecee62794959d9f8d8f23ec900eeba700bc093091b4b1872347f231218b"},"schema_version":"1.0","source":{"id":"1903.09193","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.09193","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"arxiv_version","alias_value":"1903.09193v1","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.09193","created_at":"2026-05-17T23:50:40Z"},{"alias_kind":"pith_short_12","alias_value":"NGXF4MMDTDAW","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_16","alias_value":"NGXF4MMDTDAWKQN4","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_8","alias_value":"NGXF4MMD","created_at":"2026-05-18T12:33:24Z"}],"graph_snapshots":[{"event_id":"sha256:612995a8bed3d18fe9963d06b0bc18d1ce46988be752c8ad25d1dea291c872e7","target":"graph","created_at":"2026-05-17T23:50:40Z","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":"We study the deployment of a first-order multi-agent system over a desired smooth curve in 3D space. We assume that the agents have access to the local information of the desired curve and their displacements with respect to their closest neighbors, whereas in addition a leader is able to measure his absolute displacement with respect to the desired curve. In this paper we consider the case that the desired curve is a closed C^2 curve and we assume that the leader transmit his measurement to other agents through a communication network. We start the algorithm with displacement-based formation ","authors_text":"Anton Selivanov, Emilia Fridman, Jieqiang Wei, Karl H. Johansson","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-21T18:48:01Z","title":"Multi-agent deployment under the leader displacement measurement: a PDE-based approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.09193","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":"sha256:97a856d8adca503e574c506f2d08e948860c2cebc02110271a2ce5087d39893c","target":"record","created_at":"2026-05-17T23:50:40Z","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":"38f9ee742f523437eeeb867d689c26845af7672dabac78ffe049c15b7ccce175","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-21T18:48:01Z","title_canon_sha256":"c2548ecee62794959d9f8d8f23ec900eeba700bc093091b4b1872347f231218b"},"schema_version":"1.0","source":{"id":"1903.09193","kind":"arxiv","version":1}},"canonical_sha256":"69ae5e318398c16541bc1d72462a2e3a28440db8ce06b6cd9e2f756788e29d3c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"69ae5e318398c16541bc1d72462a2e3a28440db8ce06b6cd9e2f756788e29d3c","first_computed_at":"2026-05-17T23:50:40.368530Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:50:40.368530Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lgVzmAVbz8oPhMdn80qGpRSa9/C/LCm3gZhGTaBC4I+/KczYAmqDCVIHCkVEkuvHYS8Qzprh/bW0OnEG0vysCw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:50:40.368938Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.09193","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:97a856d8adca503e574c506f2d08e948860c2cebc02110271a2ce5087d39893c","sha256:612995a8bed3d18fe9963d06b0bc18d1ce46988be752c8ad25d1dea291c872e7"],"state_sha256":"e30753a3faffdecabb25d9757eaa663b061af9dc20d18f40f3add360862925a1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K10gBAS2yv43zUCHA/037QI+GZsxU07/nkiKQRCdGwlugqy5xfKFKqtAQRmZAQqpEkvayscRA0sbUZmn0/6jBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T18:05:00.839636Z","bundle_sha256":"e6b76ef73c9d80498c3a1645d6120c5955e677c105587bfa566db2c096628433"}}