{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2013:WX7C6F5SZ6BOQZOL5YKRWBOBVH","short_pith_number":"pith:WX7C6F5S","schema_version":"1.0","canonical_sha256":"b5fe2f17b2cf82e865cbee151b05c1a9ee3f2bf7f44422e96344f499810a6021","source":{"kind":"arxiv","id":"1309.4850","version":1},"attestation_state":"computed","paper":{"title":"Distributed estimation and control for preserving formation rigidity for mobile robot teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Brian D. O. Anderson, Changbin Yu, Zhiyong Sun","submitted_at":"2013-09-19T04:30:30Z","abstract_excerpt":"Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the rigidity preservation of multi-robot networks in an unknown environment, while the rigidity metric can be maximized over time during robots' motions. In order to implement the controller in a distributed manner, a distributed inverse power iteration algorithm is developed which allows each robot to estimate the global rigidity index information. Simulation r"},"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":"1309.4850","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2013-09-19T04:30:30Z","cross_cats_sorted":[],"title_canon_sha256":"04b5c5d2364648fd043f1b828562c3298dc62bcae55c3af67bbc4e8204408770","abstract_canon_sha256":"e2ed628b302f6c20c7055f844364db3e56e4934058beee918f18b3ed9a3b5c09"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:12:57.134199Z","signature_b64":"KJx+K9Yag5Y8zsSgTFB4hG/lTX4SABEm6gayhDyR8Xp6TAB5xLym22bUbLI8tNC4ZQ0j8vtKzDIt1RfL0G+wCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b5fe2f17b2cf82e865cbee151b05c1a9ee3f2bf7f44422e96344f499810a6021","last_reissued_at":"2026-05-18T03:12:57.133619Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:12:57.133619Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Distributed estimation and control for preserving formation rigidity for mobile robot teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Brian D. O. Anderson, Changbin Yu, Zhiyong Sun","submitted_at":"2013-09-19T04:30:30Z","abstract_excerpt":"Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the rigidity preservation of multi-robot networks in an unknown environment, while the rigidity metric can be maximized over time during robots' motions. In order to implement the controller in a distributed manner, a distributed inverse power iteration algorithm is developed which allows each robot to estimate the global rigidity index information. Simulation r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1309.4850","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":"1309.4850","created_at":"2026-05-18T03:12:57.133720+00:00"},{"alias_kind":"arxiv_version","alias_value":"1309.4850v1","created_at":"2026-05-18T03:12:57.133720+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1309.4850","created_at":"2026-05-18T03:12:57.133720+00:00"},{"alias_kind":"pith_short_12","alias_value":"WX7C6F5SZ6BO","created_at":"2026-05-18T12:28:06.772260+00:00"},{"alias_kind":"pith_short_16","alias_value":"WX7C6F5SZ6BOQZOL","created_at":"2026-05-18T12:28:06.772260+00:00"},{"alias_kind":"pith_short_8","alias_value":"WX7C6F5S","created_at":"2026-05-18T12:28:06.772260+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/WX7C6F5SZ6BOQZOL5YKRWBOBVH","json":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH.json","graph_json":"https://pith.science/api/pith-number/WX7C6F5SZ6BOQZOL5YKRWBOBVH/graph.json","events_json":"https://pith.science/api/pith-number/WX7C6F5SZ6BOQZOL5YKRWBOBVH/events.json","paper":"https://pith.science/paper/WX7C6F5S"},"agent_actions":{"view_html":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH","download_json":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH.json","view_paper":"https://pith.science/paper/WX7C6F5S","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1309.4850&json=true","fetch_graph":"https://pith.science/api/pith-number/WX7C6F5SZ6BOQZOL5YKRWBOBVH/graph.json","fetch_events":"https://pith.science/api/pith-number/WX7C6F5SZ6BOQZOL5YKRWBOBVH/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH/action/timestamp_anchor","attest_storage":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH/action/storage_attestation","attest_author":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH/action/author_attestation","sign_citation":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH/action/citation_signature","submit_replication":"https://pith.science/pith/WX7C6F5SZ6BOQZOL5YKRWBOBVH/action/replication_record"}},"created_at":"2026-05-18T03:12:57.133720+00:00","updated_at":"2026-05-18T03:12:57.133720+00:00"}