{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:NMD3B5JLXSFWNPBR5T2XCCPPL2","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":"27a29f7d4a440dccd166e4fb29678bc78d9729acb11979d0d6315df03d5bebc3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-26T04:23:57Z","title_canon_sha256":"9d37f868e121b845181f44f9705b3c358b29d2164127c6816e3d90c0e0539514"},"schema_version":"1.0","source":{"id":"1607.07535","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.07535","created_at":"2026-05-18T01:10:28Z"},{"alias_kind":"arxiv_version","alias_value":"1607.07535v1","created_at":"2026-05-18T01:10:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.07535","created_at":"2026-05-18T01:10:28Z"},{"alias_kind":"pith_short_12","alias_value":"NMD3B5JLXSFW","created_at":"2026-05-18T12:30:32Z"},{"alias_kind":"pith_short_16","alias_value":"NMD3B5JLXSFWNPBR","created_at":"2026-05-18T12:30:32Z"},{"alias_kind":"pith_short_8","alias_value":"NMD3B5JL","created_at":"2026-05-18T12:30:32Z"}],"graph_snapshots":[{"event_id":"sha256:f14059b087b02d5ab213df339625a4681b9f38daea2d2d0920d2609e1cad7561","target":"graph","created_at":"2026-05-18T01:10:28Z","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":"Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the time-varying formation tracking for multiple manipulator systems (MMSs) under fixed and switching directed graphs with a dynamic leader, whose acceleration cannot change too fast. An explicit mathematical formulation of time-varying formation is developed based on the related practical applications. A class of extended inverse dynamics control algorithms combi","authors_text":"Chao Yang, Ming-Feng Ge, Tao Li, Yan-Wu Wang, Zhi-Hong Guan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-26T04:23:57Z","title":"Time-varying formation tracking of multiple manipulators via distributed finite-time control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.07535","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":"sha256:0b3202a52efb5ad28651eda619c65243bf5a1ef4ec62c808e01a2165e4b33458","target":"record","created_at":"2026-05-18T01:10:28Z","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":"27a29f7d4a440dccd166e4fb29678bc78d9729acb11979d0d6315df03d5bebc3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-07-26T04:23:57Z","title_canon_sha256":"9d37f868e121b845181f44f9705b3c358b29d2164127c6816e3d90c0e0539514"},"schema_version":"1.0","source":{"id":"1607.07535","kind":"arxiv","version":1}},"canonical_sha256":"6b07b0f52bbc8b66bc31ecf57109ef5e92c261bf1cceb9036fd2346c95760ae4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6b07b0f52bbc8b66bc31ecf57109ef5e92c261bf1cceb9036fd2346c95760ae4","first_computed_at":"2026-05-18T01:10:28.324909Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:10:28.324909Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"y4RkP0VFYVHA/9ZkVYqmC3l06Wu4IRpp+1Eu4wFoBX+YCcVqSBDIzuB/4LrIvI41seUkjwq+cEDU74i6rbZaDA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:10:28.325393Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.07535","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0b3202a52efb5ad28651eda619c65243bf5a1ef4ec62c808e01a2165e4b33458","sha256:f14059b087b02d5ab213df339625a4681b9f38daea2d2d0920d2609e1cad7561"],"state_sha256":"b5ae649142cb60e1d31efdf07cfed4377751852097af8918485b69612e7eabe4"}