{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:RMLWMDWGMJVQK4ZMIQXF5JCJOX","short_pith_number":"pith:RMLWMDWG","canonical_record":{"source":{"id":"2004.13479","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-25T09:20:06Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"1815eee6865fe81250fa73987308001f8cdcb7461b1da74f67e31dcab4afb3a1","abstract_canon_sha256":"1db9e83ac6e84e8abaeb106a11577daa4951f3b539f7b4985d4f02343fbf7197"},"schema_version":"1.0"},"canonical_sha256":"8b17660ec6626b05732c442e5ea44975d2306d54e14bc90bcfb6e879eb703fa7","source":{"kind":"arxiv","id":"2004.13479","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.13479","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"arxiv_version","alias_value":"2004.13479v1","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.13479","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_12","alias_value":"RMLWMDWGMJVQ","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_16","alias_value":"RMLWMDWGMJVQK4ZM","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_8","alias_value":"RMLWMDWG","created_at":"2026-07-05T00:58:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:RMLWMDWGMJVQK4ZMIQXF5JCJOX","target":"record","payload":{"canonical_record":{"source":{"id":"2004.13479","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-25T09:20:06Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"1815eee6865fe81250fa73987308001f8cdcb7461b1da74f67e31dcab4afb3a1","abstract_canon_sha256":"1db9e83ac6e84e8abaeb106a11577daa4951f3b539f7b4985d4f02343fbf7197"},"schema_version":"1.0"},"canonical_sha256":"8b17660ec6626b05732c442e5ea44975d2306d54e14bc90bcfb6e879eb703fa7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:58:59.849485Z","signature_b64":"GOy2T/uPvYZLtFC8CPy3j4K0VRVOTkVjj7EsPbENmV274ANoWhbTht0mKTmaHe48+vszUyntTmod28FSBW1eAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8b17660ec6626b05732c442e5ea44975d2306d54e14bc90bcfb6e879eb703fa7","last_reissued_at":"2026-07-05T00:58:59.849142Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:58:59.849142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.13479","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":"2026-07-05T00:58:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"648jhZ5h4ABQn4o7G/y3NNEtrmElPahaM4IbLdNaIXZ+AoWNZxqzXmV831ofVzoiIEr/EAN99CCAws3wo/hiDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:46:44.225655Z"},"content_sha256":"3422c685f30c4ee77f902bac71ed49a1e7140dcbe6006c0470cbc92e1662c6a2","schema_version":"1.0","event_id":"sha256:3422c685f30c4ee77f902bac71ed49a1e7140dcbe6006c0470cbc92e1662c6a2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:RMLWMDWGMJVQK4ZMIQXF5JCJOX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Scale-free Linear Observer-based Protocol Design for Global Regulated State Synchronization of Homogeneous Multi-agent Systems with Non-introspective Agents Subject to Input Saturation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Ali Saberi, Anton A. Stoorvogel, Donya Nojavanzadeh, Zhenwei Liu","submitted_at":"2020-04-25T09:20:06Z","abstract_excerpt":"This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \\textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledg"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.13479","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2004.13479/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T00:58:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aUwjNGLNon0eEQAuuaaSKKd22E9BDSugkjz7/+jsPylUeY3hxDXzBCRKjylTQFjCTmD50EJlh4EsOukGYEkwCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T15:46:44.226329Z"},"content_sha256":"0614b17ded0c056e2e8812312b0adabe8373a3654ea668240c22ed4156d30513","schema_version":"1.0","event_id":"sha256:0614b17ded0c056e2e8812312b0adabe8373a3654ea668240c22ed4156d30513"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/bundle.json","state_url":"https://pith.science/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/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":"2026-08-03T15:46:44Z","links":{"resolver":"https://pith.science/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX","bundle":"https://pith.science/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/bundle.json","state":"https://pith.science/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RMLWMDWGMJVQK4ZMIQXF5JCJOX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:RMLWMDWGMJVQK4ZMIQXF5JCJOX","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":"1db9e83ac6e84e8abaeb106a11577daa4951f3b539f7b4985d4f02343fbf7197","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-25T09:20:06Z","title_canon_sha256":"1815eee6865fe81250fa73987308001f8cdcb7461b1da74f67e31dcab4afb3a1"},"schema_version":"1.0","source":{"id":"2004.13479","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.13479","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"arxiv_version","alias_value":"2004.13479v1","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.13479","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_12","alias_value":"RMLWMDWGMJVQ","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_16","alias_value":"RMLWMDWGMJVQK4ZM","created_at":"2026-07-05T00:58:59Z"},{"alias_kind":"pith_short_8","alias_value":"RMLWMDWG","created_at":"2026-07-05T00:58:59Z"}],"graph_snapshots":[{"event_id":"sha256:0614b17ded0c056e2e8812312b0adabe8373a3654ea668240c22ed4156d30513","target":"graph","created_at":"2026-07-05T00:58:59Z","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/2004.13479/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper studies global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation. We identify three classes of agent models which are neutrally stable, double-integrator, and mixed of double-integrator, single-integrator and neutrally stable dynamics. A \\textit{scale-free linear observer-based} protocol design methodology is developed based on localized information exchange among neighbors where the reference trajectory is given by a so-called exosystem which is assumed to be globally reachable. Our protocols do not need any knowledg","authors_text":"Ali Saberi, Anton A. Stoorvogel, Donya Nojavanzadeh, Zhenwei Liu","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-25T09:20:06Z","title":"Scale-free Linear Observer-based Protocol Design for Global Regulated State Synchronization of Homogeneous Multi-agent Systems with Non-introspective Agents Subject to Input Saturation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.13479","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":"sha256:3422c685f30c4ee77f902bac71ed49a1e7140dcbe6006c0470cbc92e1662c6a2","target":"record","created_at":"2026-07-05T00:58:59Z","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":"1db9e83ac6e84e8abaeb106a11577daa4951f3b539f7b4985d4f02343fbf7197","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-04-25T09:20:06Z","title_canon_sha256":"1815eee6865fe81250fa73987308001f8cdcb7461b1da74f67e31dcab4afb3a1"},"schema_version":"1.0","source":{"id":"2004.13479","kind":"arxiv","version":1}},"canonical_sha256":"8b17660ec6626b05732c442e5ea44975d2306d54e14bc90bcfb6e879eb703fa7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8b17660ec6626b05732c442e5ea44975d2306d54e14bc90bcfb6e879eb703fa7","first_computed_at":"2026-07-05T00:58:59.849142Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:58:59.849142Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GOy2T/uPvYZLtFC8CPy3j4K0VRVOTkVjj7EsPbENmV274ANoWhbTht0mKTmaHe48+vszUyntTmod28FSBW1eAg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:58:59.849485Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.13479","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3422c685f30c4ee77f902bac71ed49a1e7140dcbe6006c0470cbc92e1662c6a2","sha256:0614b17ded0c056e2e8812312b0adabe8373a3654ea668240c22ed4156d30513"],"state_sha256":"a5dd1fb6d38da4142fa6ade65a77687151b71f5457e681701622ae3e575eae6f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kjwpf/609FQSXyjKjvUFWRMjtaYJORuVNqRDwl2GuuXDnjkIJojh8XoX7CPAcJ6a2D/eb9vorSbSUa2XV9BIAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T15:46:44.286184Z","bundle_sha256":"e927e44aed8cf50287c9fb2e5681b8420fb9585296904fd667de45cf211ce5bd"}}