{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:YMW4YTQBXMDDM6FZT22KDQTYYZ","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":"42e28d78f1e44c22270e1dc117974558d356499f71a9feee01353c9d3f97b3c7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-06-19T14:09:07Z","title_canon_sha256":"ec1a976113953a421150c2fc6d20127c501406c8518b2f97e177cc92da1e985d"},"schema_version":"1.0","source":{"id":"1706.06478","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1706.06478","created_at":"2026-05-18T00:41:57Z"},{"alias_kind":"arxiv_version","alias_value":"1706.06478v2","created_at":"2026-05-18T00:41:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.06478","created_at":"2026-05-18T00:41:57Z"},{"alias_kind":"pith_short_12","alias_value":"YMW4YTQBXMDD","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"YMW4YTQBXMDDM6FZ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"YMW4YTQB","created_at":"2026-05-18T12:31:56Z"}],"graph_snapshots":[{"event_id":"sha256:42baa32b7bcba2f7680aef592b453a0527e3c2f3bc55f89d450bdf467fe00531","target":"graph","created_at":"2026-05-18T00:41:57Z","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 novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an appealing re-formulation. Transverse coordinates, expressing the distance from a frame path, are used to parameterise the vehicle position and a spatial parameter is used as independent variable. This r","authors_text":"Giuseppe Notarstefano, Sara Spedicato","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-06-19T14:09:07Z","title":"Minimum-time trajectory generation for quadrotors in constrained environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.06478","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":"sha256:866965b9f914b9257f0175ff848147051c8b4c94d6ee7ee84b6dd0ed27495b2c","target":"record","created_at":"2026-05-18T00:41:57Z","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":"42e28d78f1e44c22270e1dc117974558d356499f71a9feee01353c9d3f97b3c7","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-06-19T14:09:07Z","title_canon_sha256":"ec1a976113953a421150c2fc6d20127c501406c8518b2f97e177cc92da1e985d"},"schema_version":"1.0","source":{"id":"1706.06478","kind":"arxiv","version":2}},"canonical_sha256":"c32dcc4e01bb063678b99eb4a1c278c6625b52f27282e3ea6bbbb555b606cd97","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c32dcc4e01bb063678b99eb4a1c278c6625b52f27282e3ea6bbbb555b606cd97","first_computed_at":"2026-05-18T00:41:57.476794Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:41:57.476794Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"cJ79mIxYJwc9T9CItnV4wFXg1iCkaIv64O1ft+LYdXroriTPrGvI/Ujc4MdRF9S+KJbsbX7fJrtc3nYeXzPbCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:41:57.477336Z","signed_message":"canonical_sha256_bytes"},"source_id":"1706.06478","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:866965b9f914b9257f0175ff848147051c8b4c94d6ee7ee84b6dd0ed27495b2c","sha256:42baa32b7bcba2f7680aef592b453a0527e3c2f3bc55f89d450bdf467fe00531"],"state_sha256":"b1810cc76e86af84f6761e804b7b079e9c7a46c79bb8085cea15d030b9c4b925"}