{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:S3TWERHZ2INX6IOJSMPW2REW7I","short_pith_number":"pith:S3TWERHZ","schema_version":"1.0","canonical_sha256":"96e76244f9d21b7f21c9931f6d4496fa39ef6bc97374b92720052eeb5a75071c","source":{"kind":"arxiv","id":"1709.03641","version":1},"attestation_state":"computed","paper":{"title":"Semi-centralized control for multi-robot formation and theoretical lower bound","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiaxun Lu, Khaled B. Letaief, Pingyi Fan, Shuo Wan","submitted_at":"2017-09-12T01:18:10Z","abstract_excerpt":"Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose a position from the formation so that the whole system cost is minimized. To solve the problem, we formulate an optimization problem in terms of the total moving distance and give a solution by the Hungarian method. To analyze the deviation of the achieved formation from the ideal one, we obtain the lower bound of formation bias with respect to system's par"},"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":"1709.03641","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-09-12T01:18:10Z","cross_cats_sorted":[],"title_canon_sha256":"0713ec0618c0c5776e40dda0fbc94583364924d8ecf5304903a018ec014b37dc","abstract_canon_sha256":"1fc14eb04e9aa1e0a7ea4c57a4f53d1d2cb067f8f06ecf6dc864005693bb220c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:35:29.970234Z","signature_b64":"+7n3WuWwmysCNjty/3WW0jF0RFbOKww9g25fJZtt9rgnzSXIgObMTT/BU/RJLt7SrgRh6Imq0tUMe3sqLItvCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96e76244f9d21b7f21c9931f6d4496fa39ef6bc97374b92720052eeb5a75071c","last_reissued_at":"2026-05-18T00:35:29.969606Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:35:29.969606Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Semi-centralized control for multi-robot formation and theoretical lower bound","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiaxun Lu, Khaled B. Letaief, Pingyi Fan, Shuo Wan","submitted_at":"2017-09-12T01:18:10Z","abstract_excerpt":"Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose a position from the formation so that the whole system cost is minimized. To solve the problem, we formulate an optimization problem in terms of the total moving distance and give a solution by the Hungarian method. To analyze the deviation of the achieved formation from the ideal one, we obtain the lower bound of formation bias with respect to system's par"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.03641","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":"1709.03641","created_at":"2026-05-18T00:35:29.969696+00:00"},{"alias_kind":"arxiv_version","alias_value":"1709.03641v1","created_at":"2026-05-18T00:35:29.969696+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.03641","created_at":"2026-05-18T00:35:29.969696+00:00"},{"alias_kind":"pith_short_12","alias_value":"S3TWERHZ2INX","created_at":"2026-05-18T12:31:43.269735+00:00"},{"alias_kind":"pith_short_16","alias_value":"S3TWERHZ2INX6IOJ","created_at":"2026-05-18T12:31:43.269735+00:00"},{"alias_kind":"pith_short_8","alias_value":"S3TWERHZ","created_at":"2026-05-18T12:31:43.269735+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/S3TWERHZ2INX6IOJSMPW2REW7I","json":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I.json","graph_json":"https://pith.science/api/pith-number/S3TWERHZ2INX6IOJSMPW2REW7I/graph.json","events_json":"https://pith.science/api/pith-number/S3TWERHZ2INX6IOJSMPW2REW7I/events.json","paper":"https://pith.science/paper/S3TWERHZ"},"agent_actions":{"view_html":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I","download_json":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I.json","view_paper":"https://pith.science/paper/S3TWERHZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1709.03641&json=true","fetch_graph":"https://pith.science/api/pith-number/S3TWERHZ2INX6IOJSMPW2REW7I/graph.json","fetch_events":"https://pith.science/api/pith-number/S3TWERHZ2INX6IOJSMPW2REW7I/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I/action/timestamp_anchor","attest_storage":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I/action/storage_attestation","attest_author":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I/action/author_attestation","sign_citation":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I/action/citation_signature","submit_replication":"https://pith.science/pith/S3TWERHZ2INX6IOJSMPW2REW7I/action/replication_record"}},"created_at":"2026-05-18T00:35:29.969696+00:00","updated_at":"2026-05-18T00:35:29.969696+00:00"}