{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:LTEQKV4P55WI4WBXMK52V3VUEO","short_pith_number":"pith:LTEQKV4P","canonical_record":{"source":{"id":"1610.01496","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T16:02:25Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"9031650487f4247801dce22307eb3b2d289bdd29104bd61b7725ec138da41f51","abstract_canon_sha256":"bca911e16d8bd269283919cfed0de934a7066b24381c1f5472b6cd152c6348e2"},"schema_version":"1.0"},"canonical_sha256":"5cc905578fef6c8e583762bbaaeeb4239bcaf00c1c468bf77990191b2a0c3d0c","source":{"kind":"arxiv","id":"1610.01496","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01496","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01496v1","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01496","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"pith_short_12","alias_value":"LTEQKV4P55WI","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_16","alias_value":"LTEQKV4P55WI4WBX","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_8","alias_value":"LTEQKV4P","created_at":"2026-05-18T12:30:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:LTEQKV4P55WI4WBXMK52V3VUEO","target":"record","payload":{"canonical_record":{"source":{"id":"1610.01496","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T16:02:25Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"9031650487f4247801dce22307eb3b2d289bdd29104bd61b7725ec138da41f51","abstract_canon_sha256":"bca911e16d8bd269283919cfed0de934a7066b24381c1f5472b6cd152c6348e2"},"schema_version":"1.0"},"canonical_sha256":"5cc905578fef6c8e583762bbaaeeb4239bcaf00c1c468bf77990191b2a0c3d0c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:03:07.013471Z","signature_b64":"b0LIDDBtDeUs+gby4huloakt49q1cYrVLX1Ab8Wjl1YTVdSx+f2kn7YdCsP72QlPCqqjuKNhehmK/1ZjWF0zBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5cc905578fef6c8e583762bbaaeeb4239bcaf00c1c468bf77990191b2a0c3d0c","last_reissued_at":"2026-05-18T01:03:07.013066Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:03:07.013066Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1610.01496","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":"2026-05-18T01:03:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mul4jhBoz7nzKIZ4bx572w2Kr2oAHL7Iumdf+7/lhwagcgqRmrXqj2CPq/+crhJJchPiXv0IML2E3bkX9BWqBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T18:07:23.681739Z"},"content_sha256":"481ccc5371ad2e0b4871487983c25e0207cbde3961801a9b681e1ed0f6c4a7b1","schema_version":"1.0","event_id":"sha256:481ccc5371ad2e0b4871487983c25e0207cbde3961801a9b681e1ed0f6c4a7b1"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:LTEQKV4P55WI4WBXMK52V3VUEO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"Antonio Franchi, Giuseppe Notarstefano, Sara Spedicato","submitted_at":"2016-10-05T16:02:25Z","abstract_excerpt":"In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that the vehicle is not required to chase a virtual target, but just to stay on a (properly designed) desired path with a given velocity profile. In this paper we show how a robust maneuver regulation controller can be easily designed by converting an existing tracking scheme. The resulting maneuvering controller has three main appealing features, namely it: (i) "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01496","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":"2026-05-18T01:03:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tsNmfSmWmLwjSrgF4kOhqOa6siUFuBKqSI5+xwXzLxlkxqrcZyQxnhCfHySlapR6BHL93Rsn1kq0ASh1K0QeDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T18:07:23.682084Z"},"content_sha256":"2c445bebc7d26816cfb41baf65d0b7b4864ff027da253ec973a96885052b3c98","schema_version":"1.0","event_id":"sha256:2c445bebc7d26816cfb41baf65d0b7b4864ff027da253ec973a96885052b3c98"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LTEQKV4P55WI4WBXMK52V3VUEO/bundle.json","state_url":"https://pith.science/pith/LTEQKV4P55WI4WBXMK52V3VUEO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LTEQKV4P55WI4WBXMK52V3VUEO/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":"2026-06-24T18:07:23Z","links":{"resolver":"https://pith.science/pith/LTEQKV4P55WI4WBXMK52V3VUEO","bundle":"https://pith.science/pith/LTEQKV4P55WI4WBXMK52V3VUEO/bundle.json","state":"https://pith.science/pith/LTEQKV4P55WI4WBXMK52V3VUEO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LTEQKV4P55WI4WBXMK52V3VUEO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:LTEQKV4P55WI4WBXMK52V3VUEO","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":"bca911e16d8bd269283919cfed0de934a7066b24381c1f5472b6cd152c6348e2","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T16:02:25Z","title_canon_sha256":"9031650487f4247801dce22307eb3b2d289bdd29104bd61b7725ec138da41f51"},"schema_version":"1.0","source":{"id":"1610.01496","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01496","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01496v1","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01496","created_at":"2026-05-18T01:03:07Z"},{"alias_kind":"pith_short_12","alias_value":"LTEQKV4P55WI","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_16","alias_value":"LTEQKV4P55WI4WBX","created_at":"2026-05-18T12:30:29Z"},{"alias_kind":"pith_short_8","alias_value":"LTEQKV4P","created_at":"2026-05-18T12:30:29Z"}],"graph_snapshots":[{"event_id":"sha256:2c445bebc7d26816cfb41baf65d0b7b4864ff027da253ec973a96885052b3c98","target":"graph","created_at":"2026-05-18T01:03:07Z","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":"In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that the vehicle is not required to chase a virtual target, but just to stay on a (properly designed) desired path with a given velocity profile. In this paper we show how a robust maneuver regulation controller can be easily designed by converting an existing tracking scheme. The resulting maneuvering controller has three main appealing features, namely it: (i) ","authors_text":"Antonio Franchi, Giuseppe Notarstefano, Sara Spedicato","cross_cats":["math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T16:02:25Z","title":"From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01496","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":"sha256:481ccc5371ad2e0b4871487983c25e0207cbde3961801a9b681e1ed0f6c4a7b1","target":"record","created_at":"2026-05-18T01:03:07Z","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":"bca911e16d8bd269283919cfed0de934a7066b24381c1f5472b6cd152c6348e2","cross_cats_sorted":["math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-10-05T16:02:25Z","title_canon_sha256":"9031650487f4247801dce22307eb3b2d289bdd29104bd61b7725ec138da41f51"},"schema_version":"1.0","source":{"id":"1610.01496","kind":"arxiv","version":1}},"canonical_sha256":"5cc905578fef6c8e583762bbaaeeb4239bcaf00c1c468bf77990191b2a0c3d0c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5cc905578fef6c8e583762bbaaeeb4239bcaf00c1c468bf77990191b2a0c3d0c","first_computed_at":"2026-05-18T01:03:07.013066Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:03:07.013066Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"b0LIDDBtDeUs+gby4huloakt49q1cYrVLX1Ab8Wjl1YTVdSx+f2kn7YdCsP72QlPCqqjuKNhehmK/1ZjWF0zBA==","signature_status":"signed_v1","signed_at":"2026-05-18T01:03:07.013471Z","signed_message":"canonical_sha256_bytes"},"source_id":"1610.01496","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:481ccc5371ad2e0b4871487983c25e0207cbde3961801a9b681e1ed0f6c4a7b1","sha256:2c445bebc7d26816cfb41baf65d0b7b4864ff027da253ec973a96885052b3c98"],"state_sha256":"8cd684180fbcd08af277c51346d779958a2d3287d35b92ffff782c48ed4455f9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G6xY+K6xWydzBb5t4q9o3ZiIgiSD3XFOaLb5tlDE7DmcunH/PmjukGhuxFTsFONiaYt1qJVkH5FytpS/IcN2DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-24T18:07:23.684085Z","bundle_sha256":"5556b64659eb2bb58418ff169b84aa1d437c42351081a0234fb19a2fc7aa1b78"}}