{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:ZHNK5S664KGYSXBI3ZE5JMY3OB","short_pith_number":"pith:ZHNK5S66","canonical_record":{"source":{"id":"1905.01215","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-05-03T15:06:42Z","cross_cats_sorted":[],"title_canon_sha256":"dd139a88043dc676de0e2e1b5a169636b162cb9ea81e9579dd168d2976b455ec","abstract_canon_sha256":"6f0e729c4e0facb5e92a6deae606cfd452e989db73f47fa57ad477271d93f829"},"schema_version":"1.0"},"canonical_sha256":"c9daaecbdee28d895c28de49d4b31b706bb6c1ce47a31869181968421c78ad73","source":{"kind":"arxiv","id":"1905.01215","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.01215","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"arxiv_version","alias_value":"1905.01215v1","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.01215","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZHNK5S664KGY","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"ZHNK5S664KGYSXBI","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"ZHNK5S66","created_at":"2026-05-18T12:33:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:ZHNK5S664KGYSXBI3ZE5JMY3OB","target":"record","payload":{"canonical_record":{"source":{"id":"1905.01215","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-05-03T15:06:42Z","cross_cats_sorted":[],"title_canon_sha256":"dd139a88043dc676de0e2e1b5a169636b162cb9ea81e9579dd168d2976b455ec","abstract_canon_sha256":"6f0e729c4e0facb5e92a6deae606cfd452e989db73f47fa57ad477271d93f829"},"schema_version":"1.0"},"canonical_sha256":"c9daaecbdee28d895c28de49d4b31b706bb6c1ce47a31869181968421c78ad73","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:47:06.489719Z","signature_b64":"0dxoy4R30ggqsJDxX5yO6jlf3/DzG4GaDRZ/SkQPj4nLzianvilAx/bjkhTxfgf5YeyDbdDQBbx0teTPdXg8BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c9daaecbdee28d895c28de49d4b31b706bb6c1ce47a31869181968421c78ad73","last_reissued_at":"2026-05-17T23:47:06.489201Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:47:06.489201Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1905.01215","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":"2026-05-17T23:47:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UqoqWr17d+hmIUNG9XWAHtzydXosGRV3ZlL+59CrPdkif3ucYwO13fsrQNXr/Ir8ya46vq1uH/ZxWAA0SnMLBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T10:11:20.491940Z"},"content_sha256":"0a0304026ebab5d462945c448ea48aef24ee8b4e5cd87dc2d0f8a0eb536579c2","schema_version":"1.0","event_id":"sha256:0a0304026ebab5d462945c448ea48aef24ee8b4e5cd87dc2d0f8a0eb536579c2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:ZHNK5S664KGYSXBI3ZE5JMY3OB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Collective Dynamics and Control for Multiple Unmanned Surface Vessels","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Bin Liu, Hai-Tao Zhang, Housheng Su, Jin Zhao, Tao Geng, Xudong Wang, Zhiyong Chen","submitted_at":"2019-05-03T15:06:42Z","abstract_excerpt":"A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiment"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.01215","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":"2026-05-17T23:47:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1QGBfXK9+uYaIiBwHZvPzhrZzQUltTVhE3yub3BoX2TyqyMEw48hlagESFB6GYb2MU05LoM4k2Am8mPJgGsdBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-06T10:11:20.492659Z"},"content_sha256":"61192a39f9b6bc788a76f0ca691fe72c795c2711691435657d4897e4bf805c5a","schema_version":"1.0","event_id":"sha256:61192a39f9b6bc788a76f0ca691fe72c795c2711691435657d4897e4bf805c5a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/bundle.json","state_url":"https://pith.science/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/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":"2026-06-06T10:11:20Z","links":{"resolver":"https://pith.science/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB","bundle":"https://pith.science/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/bundle.json","state":"https://pith.science/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZHNK5S664KGYSXBI3ZE5JMY3OB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ZHNK5S664KGYSXBI3ZE5JMY3OB","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":"6f0e729c4e0facb5e92a6deae606cfd452e989db73f47fa57ad477271d93f829","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-05-03T15:06:42Z","title_canon_sha256":"dd139a88043dc676de0e2e1b5a169636b162cb9ea81e9579dd168d2976b455ec"},"schema_version":"1.0","source":{"id":"1905.01215","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.01215","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"arxiv_version","alias_value":"1905.01215v1","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.01215","created_at":"2026-05-17T23:47:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZHNK5S664KGY","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_16","alias_value":"ZHNK5S664KGYSXBI","created_at":"2026-05-18T12:33:33Z"},{"alias_kind":"pith_short_8","alias_value":"ZHNK5S66","created_at":"2026-05-18T12:33:33Z"}],"graph_snapshots":[{"event_id":"sha256:61192a39f9b6bc788a76f0ca691fe72c795c2711691435657d4897e4bf805c5a","target":"graph","created_at":"2026-05-17T23:47:06Z","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":"A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiment","authors_text":"Bin Liu, Hai-Tao Zhang, Housheng Su, Jin Zhao, Tao Geng, Xudong Wang, Zhiyong Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-05-03T15:06:42Z","title":"Collective Dynamics and Control for Multiple Unmanned Surface Vessels"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.01215","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":"sha256:0a0304026ebab5d462945c448ea48aef24ee8b4e5cd87dc2d0f8a0eb536579c2","target":"record","created_at":"2026-05-17T23:47:06Z","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":"6f0e729c4e0facb5e92a6deae606cfd452e989db73f47fa57ad477271d93f829","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2019-05-03T15:06:42Z","title_canon_sha256":"dd139a88043dc676de0e2e1b5a169636b162cb9ea81e9579dd168d2976b455ec"},"schema_version":"1.0","source":{"id":"1905.01215","kind":"arxiv","version":1}},"canonical_sha256":"c9daaecbdee28d895c28de49d4b31b706bb6c1ce47a31869181968421c78ad73","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9daaecbdee28d895c28de49d4b31b706bb6c1ce47a31869181968421c78ad73","first_computed_at":"2026-05-17T23:47:06.489201Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:47:06.489201Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0dxoy4R30ggqsJDxX5yO6jlf3/DzG4GaDRZ/SkQPj4nLzianvilAx/bjkhTxfgf5YeyDbdDQBbx0teTPdXg8BA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:47:06.489719Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.01215","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0a0304026ebab5d462945c448ea48aef24ee8b4e5cd87dc2d0f8a0eb536579c2","sha256:61192a39f9b6bc788a76f0ca691fe72c795c2711691435657d4897e4bf805c5a"],"state_sha256":"5a57fa205fcdaecdb9b27d1ee5584329c03842b4b8ff6e45ed73ace4b8cbbdb9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2mtjnLEKTXvSsV/yU29X1gOVaB/8JbbARYOWXI8Fz6bkI1gBkBUJxTxZaD41htWVZmaj9x9rHuJamMfgIGz5DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-06T10:11:20.496264Z","bundle_sha256":"a581bdd11e246c9b0cc8f0d12632996a1b0d2981b0cdd5f1d987ef150c2c2739"}}