{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:OHT5P5EXEYSSQEVGNC2JBBXI63","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":"2f236cb6527e909413f42aaf8ecce260ee652bc798aeb54a4405b8b201eb3483","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-05T10:07:09Z","title_canon_sha256":"75275d77bc14356e4da68be563834be62521cf25c63fa90c7e4ce0ed640e9d08"},"schema_version":"1.0","source":{"id":"1908.01542","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.01542","created_at":"2026-07-04T23:51:31Z"},{"alias_kind":"arxiv_version","alias_value":"1908.01542v1","created_at":"2026-07-04T23:51:31Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.01542","created_at":"2026-07-04T23:51:31Z"},{"alias_kind":"pith_short_12","alias_value":"OHT5P5EXEYSS","created_at":"2026-07-04T23:51:31Z"},{"alias_kind":"pith_short_16","alias_value":"OHT5P5EXEYSSQEVG","created_at":"2026-07-04T23:51:31Z"},{"alias_kind":"pith_short_8","alias_value":"OHT5P5EX","created_at":"2026-07-04T23:51:31Z"}],"graph_snapshots":[{"event_id":"sha256:a276accbf82f9d030d666b723e190e362322b7e95c5eea7efb9642429a6a4acd","target":"graph","created_at":"2026-07-04T23:51:31Z","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/1908.01542/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its neighbors, we develop the notion of ``angle rigidity\" for a multi-point framework, named ``angularity\", consisting of a set of nodes embedded in a Euclidean space and a set of angle constraints among them. Different from bearings or angles defined with respect to a global axis, the angles we use do not rely on the knowledge of a global coordinate system and are s","authors_text":"Chuanjiang Li, Liangming Chen, Ming Cao","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-05T10:07:09Z","title":"Angle rigidity and its usage to stabilize planar formations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.01542","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":"sha256:5fcd935349e373ff15143976e4ab20b55d3379600f5a6951b0ef625b9f3728ec","target":"record","created_at":"2026-07-04T23:51:31Z","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":"2f236cb6527e909413f42aaf8ecce260ee652bc798aeb54a4405b8b201eb3483","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2019-08-05T10:07:09Z","title_canon_sha256":"75275d77bc14356e4da68be563834be62521cf25c63fa90c7e4ce0ed640e9d08"},"schema_version":"1.0","source":{"id":"1908.01542","kind":"arxiv","version":1}},"canonical_sha256":"71e7d7f49726252812a668b49086e8f6fc07a1f38a2eee7075de9bbb245647e6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"71e7d7f49726252812a668b49086e8f6fc07a1f38a2eee7075de9bbb245647e6","first_computed_at":"2026-07-04T23:51:31.288872Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-04T23:51:31.288872Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"13Y8qShU1j4fK9VyLqHn2Y7H6nrcP/tnxHdAIBhyd3/n0nAYca7YqIv0fYW96emk0bOM9j8lh/R8cpXLNJ0UAg==","signature_status":"signed_v1","signed_at":"2026-07-04T23:51:31.289327Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.01542","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5fcd935349e373ff15143976e4ab20b55d3379600f5a6951b0ef625b9f3728ec","sha256:a276accbf82f9d030d666b723e190e362322b7e95c5eea7efb9642429a6a4acd"],"state_sha256":"79f6dac5a200570dd51125057f5342b07c6b2898882d524c0229977bd6d47058"}