{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WAIN6CK5F7VMVULPOFSS5GT36A","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":"9a0d12c0fb3f68ff73d60f863c95aec10ff7b8e097a67da842cab0f436ae420a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-02T06:15:33Z","title_canon_sha256":"19c090f2fa9734bf2cef57594d8f7885e52e4b7ed7df92fd5bb76cd3fb79ec85"},"schema_version":"1.0","source":{"id":"2602.01700","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.01700","created_at":"2026-06-19T16:11:20Z"},{"alias_kind":"arxiv_version","alias_value":"2602.01700v2","created_at":"2026-06-19T16:11:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.01700","created_at":"2026-06-19T16:11:20Z"},{"alias_kind":"pith_short_12","alias_value":"WAIN6CK5F7VM","created_at":"2026-06-19T16:11:20Z"},{"alias_kind":"pith_short_16","alias_value":"WAIN6CK5F7VMVULP","created_at":"2026-06-19T16:11:20Z"},{"alias_kind":"pith_short_8","alias_value":"WAIN6CK5","created_at":"2026-06-19T16:11:20Z"}],"graph_snapshots":[{"event_id":"sha256:51b0cda598100801be0febab8bfdde935c57f3c273855091d028577e80668aa1","target":"graph","created_at":"2026-06-19T16:11:20Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2602.01700/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we present Tilt-Ropter, a fully actuated hybrid aerial-terrestrial vehicle (HATV) that integrates tilt rotors with passive wheels to enable efficient multi-modal locomotion. Unlike conventional underactuated HATVs, the fully actuated design of Tilt-Ropter allows decoupled force and torque control, improving maneuverability and ground locomotion efficiency. A unified nonlinear model predictive controller (NMPC) is developed to track reference trajectories, enforce non-holonomic constraints, and accommodate contact effects across locomotion modes, while ensuring actuator feasibilit","authors_text":"Ben M. Chen, Ruoyu Wang, Wendi Ding, Xuchen Liu, Zixuan Guo, Zongzhou Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-02T06:15:33Z","title":"Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.01700","kind":"arxiv","version":2},"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":"sha256:9423d34e588054e8bd64bbe14d2b54b57c1fd637750bce6e3edda0fde86f4b0f","target":"record","created_at":"2026-06-19T16:11:20Z","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":"9a0d12c0fb3f68ff73d60f863c95aec10ff7b8e097a67da842cab0f436ae420a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-02-02T06:15:33Z","title_canon_sha256":"19c090f2fa9734bf2cef57594d8f7885e52e4b7ed7df92fd5bb76cd3fb79ec85"},"schema_version":"1.0","source":{"id":"2602.01700","kind":"arxiv","version":2}},"canonical_sha256":"b010df095d2feacad16f71652e9a7bf0068af5a8cc3e00b4f0e43247accc4ff8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b010df095d2feacad16f71652e9a7bf0068af5a8cc3e00b4f0e43247accc4ff8","first_computed_at":"2026-06-19T16:11:20.272977Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:11:20.272977Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PI9qFL2nzWVEFIUok4HLdMIDMTqubGCAIQpUSWVjyDEKFSi2U4H9hQTtVQRHpmJhUdt5fXAkefRoqgtW5qsGAg==","signature_status":"signed_v1","signed_at":"2026-06-19T16:11:20.273384Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.01700","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9423d34e588054e8bd64bbe14d2b54b57c1fd637750bce6e3edda0fde86f4b0f","sha256:51b0cda598100801be0febab8bfdde935c57f3c273855091d028577e80668aa1"],"state_sha256":"dd047a98d59643f3c4843609576f7d59526167fb1d62eea6f3a06ad2a866d879"}