{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:Y3X72NPZQ3B4ZHMYM7VKOJQE3Z","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":"fda9b272c1d4e652bb08795ce99dc749d54cfa12328d74387d877bb0322112e4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-02T00:06:07Z","title_canon_sha256":"33633e03a9e2dd32d27234c630b2283517f5f97320e8d8cd45ac380c9cc1d8d7"},"schema_version":"1.0","source":{"id":"2111.01302","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2111.01302","created_at":"2026-07-05T03:28:01Z"},{"alias_kind":"arxiv_version","alias_value":"2111.01302v1","created_at":"2026-07-05T03:28:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.01302","created_at":"2026-07-05T03:28:01Z"},{"alias_kind":"pith_short_12","alias_value":"Y3X72NPZQ3B4","created_at":"2026-07-05T03:28:01Z"},{"alias_kind":"pith_short_16","alias_value":"Y3X72NPZQ3B4ZHMY","created_at":"2026-07-05T03:28:01Z"},{"alias_kind":"pith_short_8","alias_value":"Y3X72NPZ","created_at":"2026-07-05T03:28:01Z"}],"graph_snapshots":[{"event_id":"sha256:77b32cb1af8e50292a8b475cb599f50fa1b7efedf711c742000bc63b8b8a24ea","target":"graph","created_at":"2026-07-05T03:28:01Z","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/2111.01302/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper shows that the dynamics of a general class of aerial manipulators, consist of an underactuated multi-rotor base with an arbitrary k-linked articulated manipulator, are differentially flat. Methods of Lagrangian Reduction under broken symmetries produce reduced equations of motion whose key variables: center-of-mass linear momentum, vehicle yaw angle, and manipulator relative joint angles become the flat outputs. Utilizing flatness theory and a second-order dynamic extension of the thrust input, we transform the mechanics of aerial manipulators to their equivalent trivial form with a","authors_text":"Joel Burdick, Peder Harderup, Skylar X. Wei","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-02T00:06:07Z","title":"Differential Flatness and Flatness Inspired Control of Aerial Manipulators based on Lagrangian Reduction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.01302","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:a1112a53dd26f18337ff569a482e550b007d3696821f25bad76183ab30bbb4ed","target":"record","created_at":"2026-07-05T03:28:01Z","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":"fda9b272c1d4e652bb08795ce99dc749d54cfa12328d74387d877bb0322112e4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-02T00:06:07Z","title_canon_sha256":"33633e03a9e2dd32d27234c630b2283517f5f97320e8d8cd45ac380c9cc1d8d7"},"schema_version":"1.0","source":{"id":"2111.01302","kind":"arxiv","version":1}},"canonical_sha256":"c6effd35f986c3cc9d9867eaa72604de7d387be3382ba92f37bc5445ad6d8dc5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c6effd35f986c3cc9d9867eaa72604de7d387be3382ba92f37bc5445ad6d8dc5","first_computed_at":"2026-07-05T03:28:01.125074Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:28:01.125074Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PzJRuTk6g+34b1bW13igKYkF1ZWAdooKI8Q7iD3xl3XwEQONL4y7k5jl4md5kqX1ll+oK7pTegyB4yKisLG7CA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:28:01.125522Z","signed_message":"canonical_sha256_bytes"},"source_id":"2111.01302","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a1112a53dd26f18337ff569a482e550b007d3696821f25bad76183ab30bbb4ed","sha256:77b32cb1af8e50292a8b475cb599f50fa1b7efedf711c742000bc63b8b8a24ea"],"state_sha256":"5da12372378d3a0428fe5e5e203a4ba10f9c389f3f8b928087a2a55e3d0b8e3c"}