{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:Z5ORYV7OHRW4W5BGE3ORZFJYHF","short_pith_number":"pith:Z5ORYV7O","schema_version":"1.0","canonical_sha256":"cf5d1c57ee3c6dcb742626dd1c953839408c4ff0eb25d401107c370294dbce2b","source":{"kind":"arxiv","id":"1702.05116","version":2},"attestation_state":"computed","paper":{"title":"Collective Motion under Beacon-referenced Cyclic Pursuit","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Biswadip Dey, Kevin S. Galloway","submitted_at":"2017-02-16T19:18:39Z","abstract_excerpt":"Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered cyclic pursuit with a constant bearing (CB) pursuit law, and demonstrated the existence of circling equilibria for the corresponding dynamics. In this work, we propose a beacon-referenced version of the CB pursuit law, wherein a stationary beacon provides an additional reference for the individual agents in a collective. When implemented in a cyclic framewor"},"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":"1702.05116","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2017-02-16T19:18:39Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"5a89edbf17f84474cb17af11c9d8cc78159ce559976557851bb534d01f795240","abstract_canon_sha256":"7cfa72ffdaa3438a2e0e8a20b907196257f3ba841aa4f22103741ddbff7ce98f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:30:30.602673Z","signature_b64":"ntasJrX5lWbY2nsSubObCgF2LjnVSl5Wugig5oWbagjNy979+fUVFZRgfvlx9tj06NzrVxir52U1SeJG8SO2BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cf5d1c57ee3c6dcb742626dd1c953839408c4ff0eb25d401107c370294dbce2b","last_reissued_at":"2026-05-18T00:30:30.601854Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:30:30.601854Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Collective Motion under Beacon-referenced Cyclic Pursuit","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Biswadip Dey, Kevin S. Galloway","submitted_at":"2017-02-16T19:18:39Z","abstract_excerpt":"Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered cyclic pursuit with a constant bearing (CB) pursuit law, and demonstrated the existence of circling equilibria for the corresponding dynamics. In this work, we propose a beacon-referenced version of the CB pursuit law, wherein a stationary beacon provides an additional reference for the individual agents in a collective. When implemented in a cyclic framewor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1702.05116","kind":"arxiv","version":2},"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":"1702.05116","created_at":"2026-05-18T00:30:30.601963+00:00"},{"alias_kind":"arxiv_version","alias_value":"1702.05116v2","created_at":"2026-05-18T00:30:30.601963+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1702.05116","created_at":"2026-05-18T00:30:30.601963+00:00"},{"alias_kind":"pith_short_12","alias_value":"Z5ORYV7OHRW4","created_at":"2026-05-18T12:31:59.375834+00:00"},{"alias_kind":"pith_short_16","alias_value":"Z5ORYV7OHRW4W5BG","created_at":"2026-05-18T12:31:59.375834+00:00"},{"alias_kind":"pith_short_8","alias_value":"Z5ORYV7O","created_at":"2026-05-18T12:31:59.375834+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/Z5ORYV7OHRW4W5BGE3ORZFJYHF","json":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF.json","graph_json":"https://pith.science/api/pith-number/Z5ORYV7OHRW4W5BGE3ORZFJYHF/graph.json","events_json":"https://pith.science/api/pith-number/Z5ORYV7OHRW4W5BGE3ORZFJYHF/events.json","paper":"https://pith.science/paper/Z5ORYV7O"},"agent_actions":{"view_html":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF","download_json":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF.json","view_paper":"https://pith.science/paper/Z5ORYV7O","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1702.05116&json=true","fetch_graph":"https://pith.science/api/pith-number/Z5ORYV7OHRW4W5BGE3ORZFJYHF/graph.json","fetch_events":"https://pith.science/api/pith-number/Z5ORYV7OHRW4W5BGE3ORZFJYHF/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF/action/timestamp_anchor","attest_storage":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF/action/storage_attestation","attest_author":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF/action/author_attestation","sign_citation":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF/action/citation_signature","submit_replication":"https://pith.science/pith/Z5ORYV7OHRW4W5BGE3ORZFJYHF/action/replication_record"}},"created_at":"2026-05-18T00:30:30.601963+00:00","updated_at":"2026-05-18T00:30:30.601963+00:00"}