{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:ZXQ6PNGA4U3AFQRO5QTLIKBH4L","short_pith_number":"pith:ZXQ6PNGA","canonical_record":{"source":{"id":"1811.01924","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-05T18:57:19Z","cross_cats_sorted":[],"title_canon_sha256":"123dc15f0a06593aaee23740cdc02f7af2183d0b2126bccffd0276385a9ebc97","abstract_canon_sha256":"5c44d507461c7d4fba61c808004b78ba21ab42642a39c04150a33ad99b76156c"},"schema_version":"1.0"},"canonical_sha256":"cde1e7b4c0e53602c22eec26b42827e2d5899fc2f19d56b26c16a9e89aa72fac","source":{"kind":"arxiv","id":"1811.01924","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.01924","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"arxiv_version","alias_value":"1811.01924v1","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.01924","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"pith_short_12","alias_value":"ZXQ6PNGA4U3A","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"ZXQ6PNGA4U3AFQRO","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"ZXQ6PNGA","created_at":"2026-05-18T12:33:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:ZXQ6PNGA4U3AFQRO5QTLIKBH4L","target":"record","payload":{"canonical_record":{"source":{"id":"1811.01924","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-05T18:57:19Z","cross_cats_sorted":[],"title_canon_sha256":"123dc15f0a06593aaee23740cdc02f7af2183d0b2126bccffd0276385a9ebc97","abstract_canon_sha256":"5c44d507461c7d4fba61c808004b78ba21ab42642a39c04150a33ad99b76156c"},"schema_version":"1.0"},"canonical_sha256":"cde1e7b4c0e53602c22eec26b42827e2d5899fc2f19d56b26c16a9e89aa72fac","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:01:32.929883Z","signature_b64":"dAQJN4lxgx1jpE0pMaL46c8PM2kMYqxYG1VYHCYqhwvOuKFVtOyoz7BR+Xa42SAHvXHtyDTbei4HYrR61ZWNDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cde1e7b4c0e53602c22eec26b42827e2d5899fc2f19d56b26c16a9e89aa72fac","last_reissued_at":"2026-05-18T00:01:32.929438Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:01:32.929438Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1811.01924","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":"2026-05-18T00:01:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y48DJV43eNFUGcxY+zWSUsy2O9b8k9snfOchWQ+GGjHyQJgQb8QvrkNBm/pYQ6jWg7rhQdHMLJMIDNWrV3AcBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-23T13:27:31.034151Z"},"content_sha256":"49ac708e51a744b3a58cf5fd3f068550dcb443bb61fb061c12d9ba981910a915","schema_version":"1.0","event_id":"sha256:49ac708e51a744b3a58cf5fd3f068550dcb443bb61fb061c12d9ba981910a915"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:ZXQ6PNGA4U3AFQRO5QTLIKBH4L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Global Attitude Stabilization using Pseudo-Targets","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Mahathi Bhargavapuri, Mangal Kothari, Soumya Ranjan Sahoo","submitted_at":"2018-11-05T18:57:19Z","abstract_excerpt":"The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve arbitrary attitude maneuvers with only continuous, memory-less state-feedback. We first present nonlinear control laws using both rotation matrices and quaternions that give rise to one almost globally asymptotically stabilizable equilibrium along with a nowhere dense set of unstable equilibria. The unstable equilibria are uniquely identified in the attitude e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.01924","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":"2026-05-18T00:01:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AaqXpZY8pGNf00J2asYZzo8AqSvOaVoGAftd+zq/5dFND2YRfUFd5CE/84al1BnnambzOHbPY91AnpYAJAQiCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-23T13:27:31.034880Z"},"content_sha256":"a7ea0b488c5684f9adfdfabfe89c59fffb6440d3174520c5d42ecfb98ac20534","schema_version":"1.0","event_id":"sha256:a7ea0b488c5684f9adfdfabfe89c59fffb6440d3174520c5d42ecfb98ac20534"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/bundle.json","state_url":"https://pith.science/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/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":"2026-05-23T13:27:31Z","links":{"resolver":"https://pith.science/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L","bundle":"https://pith.science/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/bundle.json","state":"https://pith.science/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZXQ6PNGA4U3AFQRO5QTLIKBH4L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:ZXQ6PNGA4U3AFQRO5QTLIKBH4L","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":"5c44d507461c7d4fba61c808004b78ba21ab42642a39c04150a33ad99b76156c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-05T18:57:19Z","title_canon_sha256":"123dc15f0a06593aaee23740cdc02f7af2183d0b2126bccffd0276385a9ebc97"},"schema_version":"1.0","source":{"id":"1811.01924","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.01924","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"arxiv_version","alias_value":"1811.01924v1","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.01924","created_at":"2026-05-18T00:01:32Z"},{"alias_kind":"pith_short_12","alias_value":"ZXQ6PNGA4U3A","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_16","alias_value":"ZXQ6PNGA4U3AFQRO","created_at":"2026-05-18T12:33:07Z"},{"alias_kind":"pith_short_8","alias_value":"ZXQ6PNGA","created_at":"2026-05-18T12:33:07Z"}],"graph_snapshots":[{"event_id":"sha256:a7ea0b488c5684f9adfdfabfe89c59fffb6440d3174520c5d42ecfb98ac20534","target":"graph","created_at":"2026-05-18T00:01:32Z","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":"The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve arbitrary attitude maneuvers with only continuous, memory-less state-feedback. We first present nonlinear control laws using both rotation matrices and quaternions that give rise to one almost globally asymptotically stabilizable equilibrium along with a nowhere dense set of unstable equilibria. The unstable equilibria are uniquely identified in the attitude e","authors_text":"Mahathi Bhargavapuri, Mangal Kothari, Soumya Ranjan Sahoo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-05T18:57:19Z","title":"Global Attitude Stabilization using Pseudo-Targets"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.01924","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":"sha256:49ac708e51a744b3a58cf5fd3f068550dcb443bb61fb061c12d9ba981910a915","target":"record","created_at":"2026-05-18T00:01:32Z","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":"5c44d507461c7d4fba61c808004b78ba21ab42642a39c04150a33ad99b76156c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2018-11-05T18:57:19Z","title_canon_sha256":"123dc15f0a06593aaee23740cdc02f7af2183d0b2126bccffd0276385a9ebc97"},"schema_version":"1.0","source":{"id":"1811.01924","kind":"arxiv","version":1}},"canonical_sha256":"cde1e7b4c0e53602c22eec26b42827e2d5899fc2f19d56b26c16a9e89aa72fac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cde1e7b4c0e53602c22eec26b42827e2d5899fc2f19d56b26c16a9e89aa72fac","first_computed_at":"2026-05-18T00:01:32.929438Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:01:32.929438Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dAQJN4lxgx1jpE0pMaL46c8PM2kMYqxYG1VYHCYqhwvOuKFVtOyoz7BR+Xa42SAHvXHtyDTbei4HYrR61ZWNDA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:01:32.929883Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.01924","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:49ac708e51a744b3a58cf5fd3f068550dcb443bb61fb061c12d9ba981910a915","sha256:a7ea0b488c5684f9adfdfabfe89c59fffb6440d3174520c5d42ecfb98ac20534"],"state_sha256":"3f502c213b044a9e5221f4253af0fbe2ad07c0df151f18454a1f2bc908ddeead"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+faOhsmhcgUjo81/bFmXo6poxIkt1vXxrKneKKWDBVSyN3RlxDbiPGe2pnPR8CmbRFOxdN/RLWEORcQ3+TqfBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-23T13:27:31.039083Z","bundle_sha256":"a7f1e0941771727fa575da47a379861c57d4b99026a937590989d15b78a6c8c2"}}