{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3","short_pith_number":"pith:Y4R3TQKF","canonical_record":{"source":{"id":"1609.07437","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-09-23T17:17:51Z","cross_cats_sorted":["cs.MA","cs.RO"],"title_canon_sha256":"b01915732650f6ca81d1a87a2671da301f880912aa6aa337b95a95ca58eab6bf","abstract_canon_sha256":"d394bdfac100be556a00d159e9c15681d6193c3f45e451f629002e5e16e246fd"},"schema_version":"1.0"},"canonical_sha256":"c723b9c14587cb3cee1277726e345586d082e642e33bd3cd941cddcd424f661e","source":{"kind":"arxiv","id":"1609.07437","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1609.07437","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"arxiv_version","alias_value":"1609.07437v1","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.07437","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"pith_short_12","alias_value":"Y4R3TQKFQ7FT","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_16","alias_value":"Y4R3TQKFQ7FTZ3QS","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_8","alias_value":"Y4R3TQKF","created_at":"2026-05-18T12:30:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3","target":"record","payload":{"canonical_record":{"source":{"id":"1609.07437","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-09-23T17:17:51Z","cross_cats_sorted":["cs.MA","cs.RO"],"title_canon_sha256":"b01915732650f6ca81d1a87a2671da301f880912aa6aa337b95a95ca58eab6bf","abstract_canon_sha256":"d394bdfac100be556a00d159e9c15681d6193c3f45e451f629002e5e16e246fd"},"schema_version":"1.0"},"canonical_sha256":"c723b9c14587cb3cee1277726e345586d082e642e33bd3cd941cddcd424f661e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:04:00.865296Z","signature_b64":"smrkKIFMYL+e3HDXSnNlwk3DmogL/GPjVWIFS4vF27Ygf8tLtTAD4U+D4uVznjWO7giduLKSLoJB4yQ0KF8kDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c723b9c14587cb3cee1277726e345586d082e642e33bd3cd941cddcd424f661e","last_reissued_at":"2026-05-18T01:04:00.864730Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:04:00.864730Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1609.07437","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":"2026-05-18T01:04:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"p1zUrvrSCT2uks6QSalbQOY631Ry6saoJ71CbVUajKojfYe4N8ELtbYOL52vj1zET0uy8dgbJUqAc1a3bkotBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T15:32:59.720283Z"},"content_sha256":"3a077fd3d4752efc772fbee39fe4fa7e3872956ec78a4a9d13117e807ffa43b4","schema_version":"1.0","event_id":"sha256:3a077fd3d4752efc772fbee39fe4fa7e3872956ec78a4a9d13117e807ffa43b4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed scaling control of rigid formations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA","cs.RO"],"primary_cat":"cs.SY","authors_text":"Bayu Jayawardhana, Hector Garcia de Marina, Ming Cao","submitted_at":"2016-09-23T17:17:51Z","abstract_excerpt":"Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by introducing distributed parameters to the prescribed inter-distances we are able to manipulate the steady-state motion of the formation. This manipulation is in the form of inducing simultaneously the combination of constant translational and angular velocities and a controlled scaling of the rigid formation. While the computation of the distributed parameters for t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.07437","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:04:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uqTzqdWhyg/w5gwyTsSXZgSzWUbHbn5PXdh8/GVo9SeG3lh3etQYW9Zki2A3YC6rTUnEChFGhD7PgsH2YcDwCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T15:32:59.720646Z"},"content_sha256":"e7a15696c4f390b92942daa3d416e8e89be0b854e497c4c67d683d76f94f5d43","schema_version":"1.0","event_id":"sha256:e7a15696c4f390b92942daa3d416e8e89be0b854e497c4c67d683d76f94f5d43"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/bundle.json","state_url":"https://pith.science/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/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":"2026-05-30T15:32:59Z","links":{"resolver":"https://pith.science/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3","bundle":"https://pith.science/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/bundle.json","state":"https://pith.science/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:Y4R3TQKFQ7FTZ3QSO5ZG4NCVQ3","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":"d394bdfac100be556a00d159e9c15681d6193c3f45e451f629002e5e16e246fd","cross_cats_sorted":["cs.MA","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-09-23T17:17:51Z","title_canon_sha256":"b01915732650f6ca81d1a87a2671da301f880912aa6aa337b95a95ca58eab6bf"},"schema_version":"1.0","source":{"id":"1609.07437","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1609.07437","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"arxiv_version","alias_value":"1609.07437v1","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.07437","created_at":"2026-05-18T01:04:00Z"},{"alias_kind":"pith_short_12","alias_value":"Y4R3TQKFQ7FT","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_16","alias_value":"Y4R3TQKFQ7FTZ3QS","created_at":"2026-05-18T12:30:53Z"},{"alias_kind":"pith_short_8","alias_value":"Y4R3TQKF","created_at":"2026-05-18T12:30:53Z"}],"graph_snapshots":[{"event_id":"sha256:e7a15696c4f390b92942daa3d416e8e89be0b854e497c4c67d683d76f94f5d43","target":"graph","created_at":"2026-05-18T01:04:00Z","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"},"paper":{"abstract_excerpt":"Recently it has been reported that biased range-measurements among neighboring agents in the gradient distance-based formation control can lead to predictable collective motion. In this paper we take advantage of this effect and by introducing distributed parameters to the prescribed inter-distances we are able to manipulate the steady-state motion of the formation. This manipulation is in the form of inducing simultaneously the combination of constant translational and angular velocities and a controlled scaling of the rigid formation. While the computation of the distributed parameters for t","authors_text":"Bayu Jayawardhana, Hector Garcia de Marina, Ming Cao","cross_cats":["cs.MA","cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-09-23T17:17:51Z","title":"Distributed scaling control of rigid formations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.07437","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":"sha256:3a077fd3d4752efc772fbee39fe4fa7e3872956ec78a4a9d13117e807ffa43b4","target":"record","created_at":"2026-05-18T01:04:00Z","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":"d394bdfac100be556a00d159e9c15681d6193c3f45e451f629002e5e16e246fd","cross_cats_sorted":["cs.MA","cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-09-23T17:17:51Z","title_canon_sha256":"b01915732650f6ca81d1a87a2671da301f880912aa6aa337b95a95ca58eab6bf"},"schema_version":"1.0","source":{"id":"1609.07437","kind":"arxiv","version":1}},"canonical_sha256":"c723b9c14587cb3cee1277726e345586d082e642e33bd3cd941cddcd424f661e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c723b9c14587cb3cee1277726e345586d082e642e33bd3cd941cddcd424f661e","first_computed_at":"2026-05-18T01:04:00.864730Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:04:00.864730Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"smrkKIFMYL+e3HDXSnNlwk3DmogL/GPjVWIFS4vF27Ygf8tLtTAD4U+D4uVznjWO7giduLKSLoJB4yQ0KF8kDg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:04:00.865296Z","signed_message":"canonical_sha256_bytes"},"source_id":"1609.07437","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3a077fd3d4752efc772fbee39fe4fa7e3872956ec78a4a9d13117e807ffa43b4","sha256:e7a15696c4f390b92942daa3d416e8e89be0b854e497c4c67d683d76f94f5d43"],"state_sha256":"a641ba337bf70b54d4f5f43b18258491083b32d9a90754345e5beaca17c8edd6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZZW2kuHLGPgr4QmHwI0weVT9XKHbmFiqM9h8FFgDmvR4BU3qYxRrFwbeo7Y+zupu7oFQXToRG67pvgnXbypNDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T15:32:59.722709Z","bundle_sha256":"0d6846f8c373207f6f7a039ebab0add74dbc47a0648eeef3c3f76a5c85c696cc"}}