{"as_of":"2026-08-14T19:54:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:b4468b537288d2e51e18e448ba54d2022aa7040678c1f0fb7a1789ff12db5572","coverage":[{"denominator":33,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":33,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-03T17:41:59.354104Z","state":"measured"},{"denominator":33,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":33,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-14T06:32:32.682623+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/2512.08574/citation-record","integrity":"/paper/2512.08574/integrity","json":"/paper/2512.08574/citation-record.json","paper":"/paper/2512.08574"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:56.651071Z","title":"Decentralized navigation of multiple agents based on ORCA and model predictive control,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:56.651071Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:4b31eee6e098c51af96857a598bdde82b019e49614a9b1c6cb34159d3d9ff45f","observation_id":"a94a8141-8444-49f4-8f33-3a220189187c","resolution":{"observed_at":"2026-08-03T17:41:56.651071Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:56.696333Z","title":"Optimal reciprocal collision avoidance for multi-agent navigation,","venue":null,"work_id":null,"year":2010},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:56.696333Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:ed95051b27b3d2dee0630ebd2cbb3b8c5adec7d4f85e160eabb639fca9c27582","observation_id":"bd03b074-2b21-4179-bfe2-41361d2d836b","resolution":{"observed_at":"2026-08-03T17:41:56.696333Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:56.791784Z","title":"The Extended Velocity Obstacle and applying ORCA in the real world,","venue":null,"work_id":null,"year":2015},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:56.791784Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:3b40e97e54a9cc22d9d3ddbd664dc1eae4619d89cd99e8763168f47798268d64","observation_id":"234e6c75-6a9c-459b-9bee-941a6a47c5c0","resolution":{"observed_at":"2026-08-03T17:41:56.791784Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:56.960338Z","title":"VR-ORCA: Variable Responsibility Optimal Recip- rocal Collision Avoidance,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:56.960338Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:c2d260aa6d0955bc386fccc37eb8c3133bcfe8896fc27049f925b12d7fdacf3d","observation_id":"449d2a93-1ea8-45a8-a74f-e6025b514cf7","resolution":{"observed_at":"2026-08-03T17:41:56.960338Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.057305Z","title":"High-speed motion planning for aerial swarms in unknown and cluttered environments,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.057305Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:142ea2bb75d155c0fb0f7c4c020a6c0a65de40cdb2dd59554700d05e74978e11","observation_id":"7875aec3-5fbe-43b7-9772-27ff62932af2","resolution":{"observed_at":"2026-08-03T17:41:57.057305Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.221665Z","title":"MADER: Trajectory Planner in Multiagent and Dynamic Environments,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.221665Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:a4cf6b5ee87e07d1a5ad96bbc7fc8fdd5305fd672ee2e2d5e75e3912f8478d83","observation_id":"d6df32bb-7679-44aa-b40b-6a9d27525ee6","resolution":{"observed_at":"2026-08-03T17:41:57.221665Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.309036Z","title":"Dlsc: Distributed multi-agent trajectory planning in maze-like dynamic environments using linear safe corridor,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.309036Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:6f7f00fd1649023e6083899d18f202bad6199092ab6fa3530de40dfb70514f92","observation_id":"4c00de82-62cd-46c6-8ddd-eaa5852c7cf3","resolution":{"observed_at":"2026-08-03T17:41:57.309036Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.366401Z","title":"Onboard dynamic-object detection and tracking for autonomous robot navigation with rgb-d camera,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.366401Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:1329e3c7008aecab736f20cc3b87d486ffc5140e0f7e2c88a553c49afae2731b","observation_id":"0026551e-d43b-4346-90e3-48cd9ed5e7e1","resolution":{"observed_at":"2026-08-03T17:41:57.366401Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.419503Z","title":"On onboard lidar-based flying object detection,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.419503Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:5c2d8369a3427ca89e42a56544d89c0d74de48d0cd93648825c32f87b1a6dc0d","observation_id":"79a33495-016e-44aa-bef9-4e7c2e4402ba","resolution":{"observed_at":"2026-08-03T17:41:57.419503Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.529144Z","title":"Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.529144Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:399ceb0dd89aceb1caedafabe0c899928ef225e2adb10a9bcdf93ea2b79d8cc0","observation_id":"ce7aeea5-39b2-4674-81ca-c5e00987efaa","resolution":{"observed_at":"2026-08-03T17:41:57.529144Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.628757Z","title":"Trajectory planning for quadrotor swarms,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.628757Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:0969a26485d9f172b3c51626f5ec6feda5a0025b44371de37181536131f19893","observation_id":"38f62424-2954-4b89-8cc8-96ea69b25665","resolution":{"observed_at":"2026-08-03T17:41:57.628757Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.724790Z","title":"Finding a needle in an exponential haystack: Discrete rrt for exploration of implicit roadmaps in multi-robot motion planning,","venue":null,"work_id":null,"year":2016},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.724790Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:1542172045fd9be4be0f026b1895e3c6f103ca626e17d55cb75b41e144aa9a11","observation_id":"3ce6b96f-699f-42c1-ab3c-259947deb405","resolution":{"observed_at":"2026-08-03T17:41:57.724790Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.835131Z","title":"Ego-swarm: A fully autonomous and decentralized quadrotor swarm system in cluttered environments,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.835131Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:299277728fde00f80d2304c2e275c18c85f165dc178f010f0be8977d04abdbe4","observation_id":"7bdb4e75-ff22-45dc-b970-946abf017867","resolution":{"observed_at":"2026-08-03T17:41:57.835131Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:57.905818Z","title":"Swarm of micro flying robots in the wild,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:57.905818Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:4b85e9eca3fb74516dab5d50ffcb682213ef4b5c8677944b72a7e968b8ffa8bb","observation_id":"0bb4706f-3a2b-4737-aacf-7c023e36b157","resolution":{"observed_at":"2026-08-03T17:41:57.905818Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.007019Z","title":"Enhanced decentralized autonomous aerial robot teams with group planning,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.007019Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:f59af4e087a5b5b3286c530d8c8495a2dcfd64c7e34424268801eeb272a52746","observation_id":"62fc1a0f-3fa1-45d2-8fb6-858a8a2e576e","resolution":{"observed_at":"2026-08-03T17:41:58.007019Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.074359Z","title":"Robust MADER: Decentralized Multiagent Tra- jectory Planner Robust to Communication Delay in Dynamic Envi- ronments,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.074359Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:3565bae7410848e57a0415353f892d8957da8a079f2d6289f87ae8f3ba7dec75","observation_id":"900349ea-2484-42c8-9f03-fc00b1bc07a1","resolution":{"observed_at":"2026-08-03T17:41:58.074359Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.144896Z","title":"PUMA: Fully Decentralized Uncertainty-aware Multiagent Trajectory Planner with Real-time Image Segmentation-based Frame Alignment,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.144896Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:e380309941333527a0359f1a2cd4c4274141954e3dcf6140d04ec99d1dade5c6","observation_id":"0b1ea075-e854-4d2f-82ad-68f107f8c775","resolution":{"observed_at":"2026-08-03T17:41:58.144896Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.213144Z","title":"Motion planning in dynamic environments using velocity obstacles,","venue":null,"work_id":null,"year":1998},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.213144Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:660135e26fdc705155c3c685b181116f31ca3d448298678edd2272e53417cd99","observation_id":"b3b07bd6-7b78-476b-a217-16a2be3e6f14","resolution":{"observed_at":"2026-08-03T17:41:58.213144Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.277013Z","title":"Reciprocal velocity obstacles for real-time multi-agent navigation,","venue":null,"work_id":null,"year":2008},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.277013Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:352398d5dd180e2f4608078c25d9e05ebda2c3390107b1fb20c3e59324dc2fc5","observation_id":"816b81b3-4925-4efd-a0d5-bb46d1bedc4c","resolution":{"observed_at":"2026-08-03T17:41:58.277013Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.352064Z","title":"V-rvo: Decentralized multi-agent collision avoidance using voronoi diagrams and reciprocal velocity obstacles,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.352064Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:0a8f8f1d40d1f23a1dc2a6fd691dbb5fd64183828c837a0f0026d85768aed536","observation_id":"133e627e-2f0f-465b-8cbf-90b56576eadd","resolution":{"observed_at":"2026-08-03T17:41:58.352064Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.449434Z","title":"Reciprocal collision avoidance with acceleration-velocity obstacles,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.449434Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:12938697e6f2054365d2c8042b92f465ece79ceb6d29b31bac07051390d3bdee","observation_id":"ecfdce4d-7ec2-4ddd-a875-508ede2fbbce","resolution":{"observed_at":"2026-08-03T17:41:58.449434Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.515888Z","title":"Reciprocal collision avoidance for multiple car-like robots,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.515888Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:e9b161f9237b12ccd730ee0f55147b9e63c9e7285d9226d1b633f8a6cc84f4b1","observation_id":"7fdec11c-4913-4a06-a210-4185d6d6bcf1","resolution":{"observed_at":"2026-08-03T17:41:58.515888Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.576626Z","title":"Reciprocal collision avoidance for robots with linear dynamics using lqr-obstacles,","venue":null,"work_id":null,"year":2013},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.576626Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:f66dd8a952980511091859570436cf3c1ab0314db88321e00fb14d3a13394ee9","observation_id":"800ea54e-2682-4ed0-940d-34e30307bbf1","resolution":{"observed_at":"2026-08-03T17:41:58.576626Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.625389Z","title":"Lqg-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.625389Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:94d00335511520dc3e3a6a490406cee2c3b6fcf192c9fd0f2e25635f81dfaaee","observation_id":"98ac19d1-7371-450c-9c5c-9b2dd1546890","resolution":{"observed_at":"2026-08-03T17:41:58.625389Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.702231Z","title":"SRL-ORCA: A Socially Aware Multi-Agent Mapless Navigation Algorithm in Complex Dynamic Scenes,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.702231Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:9d353366c8a165e88b0c94ca425aa08aa0953d0ccd23c0a768053d64deae90fd","observation_id":"6f38e2f9-bab0-4d28-a395-5fb22ac05d4a","resolution":{"observed_at":"2026-08-03T17:41:58.702231Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.818774Z","title":"MAPPO-Based Optimal Reciprocal Collision Avoidance for Autonomous Mobile Robots in Crowds,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.818774Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:b4945543a64b8a6bd5cf1362eff4ff575827c7d1f5c22edbc79a9f7bb335cdd9","observation_id":"c68fe901-055c-4992-8d6b-8effbeb2a947","resolution":{"observed_at":"2026-08-03T17:41:58.818774Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.884387Z","title":"DCAD: Decentralized Collision Avoidance With Dynamics Constraints for Agile Quadrotor Swarms,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.884387Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:d94f7f44790c886c80bd2de17ca19b9a544304feae2c5a73f2cee1f99bb86a20","observation_id":"ad8fb7f6-174f-4672-83db-f786099d67e6","resolution":{"observed_at":"2026-08-03T17:41:58.884387Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:58.964130Z","title":"Chance-Constrained Collision Avoidance for MA Vs in Dynamic Environments,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:58.964130Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:f7f3f567cd017a76d6bdf3107a7324a40c4aa5bdf51d0e7bc1f2c40fbd702d40","observation_id":"8cf6160d-3ab2-4bbe-8b51-3742edede6da","resolution":{"observed_at":"2026-08-03T17:41:58.964130Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:59.071830Z","title":"Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited De- tection Range,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:59.071830Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:323ab499a86ae79097a34e3544fb1834619619729d8e957c5a39c3f6aeb4450f","observation_id":"6667c90d-d931-4e76-a24d-552113b3c125","resolution":{"observed_at":"2026-08-03T17:41:59.071830Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:59.135985Z","title":"Real-time planning of minimum-time trajectories for agile uav flight,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:59.135985Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:0f7edfd4d0bea00e7fcad54a11d5382fae035c7c9c45376d1f101644089bfe15","observation_id":"fe2c7eee-7e3e-462f-a008-8c045e3939e1","resolution":{"observed_at":"2026-08-03T17:41:59.135985Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:59.173769Z","title":"Lol-nmpc: Low-level dynamics integration in nonlinear model predictive control for unmanned aerial vehicles,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:59.173769Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:d6440153c4cfe7d02d7908a91b807b2c33fc586b42d1f93396c382682b866a81","observation_id":"f767b2e8-0a81-4b05-ab6d-bd173cefddc5","resolution":{"observed_at":"2026-08-03T17:41:59.173769Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2310.19511","last_updated":"2025-05-06T08:57:44Z","snapshot_observed_at":"2026-08-13T05:37:38.031230Z","submitted_at":"2023-10-30T13:10:05Z","title":"Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees","version":3},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2310.19511","snapshot_observed_at":"2026-08-03T17:41:59.255916Z","title":"Rule-based lloyd algorithm for multi-robot motion planning and control with safety and convergence guarantees,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:59.255916Z"},"links":{"cited_paper":"/paper/2310.19511","citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:08acb57de6c3c75481239a84ef5df7c9400a26d13bec787546896de593c4f5ee","observation_id":"97a78cb6-7cb3-4a20-99e6-0315ae15159e","resolution":{"observed_at":"2026-08-03T17:41:59.255916Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-03T17:41:59.354104Z","title":"The MRS UA V System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight","version":2},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-03T17:41:59.354104Z"},"links":{"citing_paper":"/paper/2512.08574"},"observation_digest":"sha256:6e5fb656a38bd2447dcf979667f4f1c4e78a62746003eb13e6dc5aeb9a3f13e7","observation_id":"b75dcf2b-a1bb-4d2a-b3d7-2f5e31693b17","resolution":{"observed_at":"2026-08-03T17:41:59.354104Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2512.08574","last_updated":"2026-07-29T12:24:58Z","latest_version":2,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-14T11:50:20.952045Z","submitted_at":"2025-12-09T13:13:27Z","title":"RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight"},"reference_resolution":{"displayed":33,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":33,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":33},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"thesis":"As of 14 August 2026, this Paper Citation Record lists 33 of 33 outbound references and 0 inbound Pith citation observations for arXiv:2512.08574."}