{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:RQ3NLNS667N44Q3KLWLS3BCBPC","short_pith_number":"pith:RQ3NLNS6","schema_version":"1.0","canonical_sha256":"8c36d5b65ef7dbce436a5d972d844178b1faac40438a0b85f8777a594c32d69e","source":{"kind":"arxiv","id":"1805.00959","version":1},"attestation_state":"computed","paper":{"title":"Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Dhanushka Kularatne, Hadi Hajieghrary, M. Ani Hsieh","submitted_at":"2018-05-02T18:12:19Z","abstract_excerpt":"In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem into a collection of subproblems. Each subproblem consists of an ASV and load pair where each ASV is attached to the load at the same point. Since the system states evolve on a smooth manifold, we use the tools from differential geometry to model the holonomic constraint arising from the cooperative transport problem and the non-holonomic constraints arising "},"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":"1805.00959","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-05-02T18:12:19Z","cross_cats_sorted":[],"title_canon_sha256":"36709d327cbeac5cbb64940cf49326ee25a9a89929402256a6a45e10f97ffb10","abstract_canon_sha256":"8276387d6534bded477cf2591c45f3e47f232d5319dcf2f9ca9a4ac1f8e134aa"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:16:53.024601Z","signature_b64":"0ZCEhwyaIHMKSfH6rSeCpvFaaeWu+0ibTIRhjC9Kea5dNRmzMXvau2A3mbNESIA0Fk8soMBUCtqzmgBtnq9BCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8c36d5b65ef7dbce436a5d972d844178b1faac40438a0b85f8777a594c32d69e","last_reissued_at":"2026-05-18T00:16:53.024002Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:16:53.024002Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Dhanushka Kularatne, Hadi Hajieghrary, M. Ani Hsieh","submitted_at":"2018-05-02T18:12:19Z","abstract_excerpt":"In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem into a collection of subproblems. Each subproblem consists of an ASV and load pair where each ASV is attached to the load at the same point. Since the system states evolve on a smooth manifold, we use the tools from differential geometry to model the holonomic constraint arising from the cooperative transport problem and the non-holonomic constraints arising "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.00959","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":"1805.00959","created_at":"2026-05-18T00:16:53.024109+00:00"},{"alias_kind":"arxiv_version","alias_value":"1805.00959v1","created_at":"2026-05-18T00:16:53.024109+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.00959","created_at":"2026-05-18T00:16:53.024109+00:00"},{"alias_kind":"pith_short_12","alias_value":"RQ3NLNS667N4","created_at":"2026-05-18T12:32:50.500415+00:00"},{"alias_kind":"pith_short_16","alias_value":"RQ3NLNS667N44Q3K","created_at":"2026-05-18T12:32:50.500415+00:00"},{"alias_kind":"pith_short_8","alias_value":"RQ3NLNS6","created_at":"2026-05-18T12:32:50.500415+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/RQ3NLNS667N44Q3KLWLS3BCBPC","json":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC.json","graph_json":"https://pith.science/api/pith-number/RQ3NLNS667N44Q3KLWLS3BCBPC/graph.json","events_json":"https://pith.science/api/pith-number/RQ3NLNS667N44Q3KLWLS3BCBPC/events.json","paper":"https://pith.science/paper/RQ3NLNS6"},"agent_actions":{"view_html":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC","download_json":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC.json","view_paper":"https://pith.science/paper/RQ3NLNS6","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1805.00959&json=true","fetch_graph":"https://pith.science/api/pith-number/RQ3NLNS667N44Q3KLWLS3BCBPC/graph.json","fetch_events":"https://pith.science/api/pith-number/RQ3NLNS667N44Q3KLWLS3BCBPC/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC/action/timestamp_anchor","attest_storage":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC/action/storage_attestation","attest_author":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC/action/author_attestation","sign_citation":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC/action/citation_signature","submit_replication":"https://pith.science/pith/RQ3NLNS667N44Q3KLWLS3BCBPC/action/replication_record"}},"created_at":"2026-05-18T00:16:53.024109+00:00","updated_at":"2026-05-18T00:16:53.024109+00:00"}