{"as_of":"2026-08-10T11:29:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:2b757fc2fd8365d81ff80f481526d19728d1c7d7234ff1474bc1c9318de9c5e2","coverage":[{"denominator":43,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":43,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-01T09:47:32.448473Z","state":"measured"},{"denominator":43,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":43,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-10T06:31:04.303077+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/2607.20665/citation-record","integrity":"/paper/2607.20665/integrity","json":"/paper/2607.20665/citation-record.json","paper":"/paper/2607.20665"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-01T09:47:28.385896Z","title":"Cooperative transport by ants and robots,","venue":null,"work_id":null,"year":2000},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.385896Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:37a0686252bb7d504306b186cc1f91b220164b8a67201f941c0d0a8f5c09a535","observation_id":"b8ee5f56-79d3-4822-8d40-411d6a950223","resolution":{"observed_at":"2026-08-01T09:47:28.385896Z","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":"2026-08-01T09:47:28.424718Z","title":"Cooperative object transport in multi-robot systems: A review of the state-of-the-art,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.424718Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:9391935667cfa2487655aa7909a96bb549a4fb321a3bff4c257320b0151f6910","observation_id":"65b3c52e-90e4-498a-8610-b9172ce3dc8b","resolution":{"observed_at":"2026-08-01T09:47:28.424718Z","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":"2026-08-01T09:47:28.501008Z","title":"Multi-robot systems and cooperative object transport: Communications, platforms, and challenges,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.501008Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:911f91fe98b9e0fbcc77b4fc9eaa2b920be954b177b4dae35a3efd2b7617b99b","observation_id":"11d1cc75-160c-453d-a84d-bab80cd8f6b0","resolution":{"observed_at":"2026-08-01T09:47:28.501008Z","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":"2026-08-01T09:47:28.578681Z","title":"A mechanical route for cooperative transport in autonomous robotic swarms,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.578681Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:09158a056b06ac64c52480a63fe5e1bcdaafc1caa29bf3f5382263fc0c1de17e","observation_id":"e118eae7-9555-431f-b7be-d16c9257d9be","resolution":{"observed_at":"2026-08-01T09:47:28.578681Z","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":"2026-08-01T09:47:28.654653Z","title":"Multi-robot formation control and object transport in dynamic environments via constrained optimiza- tion,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.654653Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:35547fd168636cf2e793a4fd383ac3608a428fb53964ac04a505a94af28a8b7f","observation_id":"c7a16260-b19e-41f1-adb3-cc52b7015881","resolution":{"observed_at":"2026-08-01T09:47:28.654653Z","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":"2026-08-01T09:47:28.724415Z","title":"Two-layers workspace: A new approach to cooperative object transportation with obstacle avoidance for multi-robot system,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.724415Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:b62080e13c774b4a482daf76bad07f2ab3cc130f87c9ec9a65e8d4a3018b3b99","observation_id":"3ef8f631-fece-41f5-8897-e2e202dc3b01","resolution":{"observed_at":"2026-08-01T09:47:28.724415Z","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":"2026-08-01T09:47:28.804272Z","title":"A review of real- time implementable cooperative aerial manipulation systems,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.804272Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:54e6283ea15cbb972740e2af305d284c7a692b15ccd2477d045e9d31c02f91cd","observation_id":"6f10d61f-a78a-435b-8833-169f2916db9f","resolution":{"observed_at":"2026-08-01T09:47:28.804272Z","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":"2026-08-01T09:47:28.882278Z","title":"Scalable cooperative transport of cable-suspended loads with uavs using distributed trajectory optimization,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.882278Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:898566e33f054234fbaf3bc4f8b329f4cbd0d204e4160ec211c1622451053590","observation_id":"f47a4e38-26fa-4ae0-92db-9d73c240167c","resolution":{"observed_at":"2026-08-01T09:47:28.882278Z","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":"2026-08-01T09:47:28.964787Z","title":"Nonlinear model predictive control for cooper- ative transportation and manipulation of cable suspended payloads with multiple quadrotors,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:28.964787Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:d8c4b504643e807a498febd368de925409296172c6270dd14ec66ffe8cd4bf51","observation_id":"0512d610-1159-4a3d-8f57-3dc249ba68e5","resolution":{"observed_at":"2026-08-01T09:47:28.964787Z","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":"2026-08-01T09:47:29.046583Z","title":"Planning and control for collision- free cooperative aerial transportation,","venue":null,"work_id":null,"year":2016},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.046583Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:72d11e59671ea451b3d80ff346f05138958ca78f49e771bc632318f503a0a8d0","observation_id":"ea074ba4-d6e9-44f3-9123-e4a759f097d5","resolution":{"observed_at":"2026-08-01T09:47:29.046583Z","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":"2026-08-01T09:47:29.152848Z","title":"Distributed model predictive control for uavs collaborative payload transport,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.152848Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:7e7e4dce25351eef69b4c4cbbfaf33f1e119fd7232de2f9da204d9b22ccef312","observation_id":"e4505f6f-6659-4f96-a385-eba62530f25e","resolution":{"observed_at":"2026-08-01T09:47:29.152848Z","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":"2026-08-01T09:47:29.204331Z","title":"Dynamic collaboration without communication: Vision-based cable-suspended load transport with two quadrotors,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.204331Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:2e4ef8fd8e290819e03b96705227bb85b03973632e77b25cca4bd498a9961693","observation_id":"064e101e-069b-42dd-801a-c95cff01cfc5","resolution":{"observed_at":"2026-08-01T09:47:29.204331Z","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":"2026-08-01T09:47:29.262488Z","title":"Hpa-mpc: Hybrid perception- aware nonlinear model predictive control for quadrotors with suspended loads,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.262488Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:d8c991c2501d62822639acd2440ba0a871a602a315a1d20e172f9edccd7474c5","observation_id":"f4ddc42d-5e42-4693-a550-c03fca8502d0","resolution":{"observed_at":"2026-08-01T09:47:29.262488Z","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":"2026-08-01T09:47:29.316573Z","title":"Human-aware physical human–robot collaborative transportation and manipulation with multiple aerial robots,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.316573Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:9786c6e932043f095ce17dd5bc258de0513d5d59f1675f7f1357a5f66b5fe6a3","observation_id":"9ce26e7b-080e-4420-9f4e-92fb155a6a5e","resolution":{"observed_at":"2026-08-01T09:47:29.316573Z","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":"2026-08-01T09:47:29.365244Z","title":"A novel robotic platform for aerial manipulation using quadrotors as rotating thrust generators,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.365244Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:ffcf59945119be6c62c7665e310ea9258cbed2de8cf717dc97367609b742eb26","observation_id":"299c4d4c-3038-4593-a387-830aad43edb9","resolution":{"observed_at":"2026-08-01T09:47:29.365244Z","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":"2026-08-01T09:47:29.443174Z","title":"Cooperative manipulation and transportation with aerial robots,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.443174Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:f2fdd81eb69c2ebfabe7d3fd181e3da3cbe348aef8f7d1dcebab5025a4e4dd87","observation_id":"eb8e62d2-9b92-41b0-8563-45bd17b27776","resolution":{"observed_at":"2026-08-01T09:47:29.443174Z","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":"2026-08-01T09:47:29.497942Z","title":"Load transportation system based on autonomous small size helicopters,","venue":null,"work_id":null,"year":2010},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.497942Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:06e755b4a71bd340995061e02e3a4869e7004c53cf1282fed7cdeada834bd3d3","observation_id":"41994478-3b17-4b68-8a55-562ec253377d","resolution":{"observed_at":"2026-08-01T09:47:29.497942Z","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":"2026-08-01T09:47:29.561870Z","title":"Full- pose manipulation control of a cable-suspended load with multiple uavs under uncertainties,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.561870Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:ee9fd2a54031a222da9de844bb77a312260294b072adb60c54cba6b53ce1a386","observation_id":"d157f34f-7f22-4e52-9b3c-ade61106c45e","resolution":{"observed_at":"2026-08-01T09:47:29.561870Z","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":"2026-08-01T09:47:29.610761Z","title":"Nonlinear mpc for full-pose manipulation of a cable-suspended load using multiple uavs,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.610761Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:adabb7136d3cadaaf927e492ccd8109ffeccfe4b0b7cc53aa4573a7876c78988","observation_id":"93eab6c4-e715-4eeb-a630-b357ca1939d0","resolution":{"observed_at":"2026-08-01T09:47:29.610761Z","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":"2026-08-01T09:47:29.661894Z","title":"Optimal trajectory planning for cooperative manipulation with multiple quadrotors using control barrier functions,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.661894Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:c6e5d115036103b5ccd32245456888540ab8a66a4d19893beadb678f5d17e8fe","observation_id":"98da2d91-cbf5-4e70-8703-6921873c7a34","resolution":{"observed_at":"2026-08-01T09:47:29.661894Z","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":"2026-08-01T09:47:29.722455Z","title":"Agile and cooperative aerial manipulation of a cable-suspended load,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.722455Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:371197eb47a334a1dd1b6362ea2ffa41ba9ab2a702afd833f88bde8b229ca3c5","observation_id":"217fc574-6c97-49fe-927b-ae5ece144168","resolution":{"observed_at":"2026-08-01T09:47:29.722455Z","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":"2026-08-01T09:47:29.775950Z","title":"Decentralized model predictive control for equilibrium-based collaborative uav bar transporta- tion,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.775950Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:e6b6bf5e7aa702d9c5aaa9d82dbd2b8ebfbd014ab249f3b456eb3bf4bd7587d4","observation_id":"525e0696-9e31-439a-9b69-c0b4d1085519","resolution":{"observed_at":"2026-08-01T09:47:29.775950Z","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":"2026-08-01T09:47:29.827464Z","title":"Cooperative transportation using multiple single-rotor robots and decentralized control for unknown pay- loads,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.827464Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:6ddd3553cafafc090cf51c17ebf83d3446921232a84caaa989b6c16e012a0b2d","observation_id":"918900d4-407a-4747-b853-6dad17674013","resolution":{"observed_at":"2026-08-01T09:47:29.827464Z","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":"2026-08-01T09:47:29.879016Z","title":"Decen- tralized motion control in a cabled-based multi-drone load transport system,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.879016Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:378310d011ec8e187bf28124e796467ea8e7254516fb8f0a24dcac13d070ee64","observation_id":"45d26dd7-e2a4-4f35-9aab-fec0aaac7a06","resolution":{"observed_at":"2026-08-01T09:47:29.879016Z","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":"2026-08-01T09:47:29.942741Z","title":"Cooperative transportation of cable suspended payloads with mavs using monocular vision and inertial sensing,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.942741Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:47acdc2c7786a97fb45d1b9b82a7a4686dec9ac45f2744a6fe4f2c3251d37359","observation_id":"01aff96d-fb76-4404-a3e4-ed58273237cd","resolution":{"observed_at":"2026-08-01T09:47:29.942741Z","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":"2026-08-01T09:47:29.995797Z","title":"Collabo- rative transportation using mavs via passive force control,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:29.995797Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:7e1455d312228f2489dbb19192f5105b619f096d8649ed12f692f0db91347278","observation_id":"73df51a7-57cf-4feb-b0d6-547a838f0930","resolution":{"observed_at":"2026-08-01T09:47:29.995797Z","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":"2026-08-01T09:47:30.050000Z","title":"Geometric control of quadrotor uavs transporting a cable- suspended rigid body,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.050000Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:7dc96997e96cd744300a69b03fbcbd00bf85874c4e3813aca73849d2ecb9aef1","observation_id":"72b41d5f-115c-41fc-a103-bda9da5285b1","resolution":{"observed_at":"2026-08-01T09:47:30.050000Z","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":"2026-08-01T09:47:30.128856Z","title":"Geometric control of multiple quadrotors transporting a rigid-body load,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.128856Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:9453e8c68ddb7efe1a0b7611b31cc3c402b2d5b03cb4b13fdd852f9cc57ad55c","observation_id":"27eac9dc-f8e7-4e1a-ac1d-b1a27d3f93eb","resolution":{"observed_at":"2026-08-01T09:47:30.128856Z","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":"2026-08-01T09:47:30.257372Z","title":"Solving multi- agent safe optimal control with distributed epigraph form MARL,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.257372Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:8fbc9a14947fb707a5935acd03317ed40d90992e5a12c91c7bf83a010aebcf6c","observation_id":"23b91f73-7a6d-487b-a6cc-5a31ee37997f","resolution":{"observed_at":"2026-08-01T09:47:30.257372Z","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":"2026-08-01T09:47:30.375452Z","title":"Automated aerial suspended cargo delivery through reinforcement learning,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.375452Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:6a51c0f91a6669a251f6e4bce6103b854dc011a78c8122ea30ce02933be88794","observation_id":"64c16034-402d-4088-8390-eb8546a3e680","resolution":{"observed_at":"2026-08-01T09:47:30.375452Z","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":"2026-08-01T09:47:30.493085Z","title":"Deep reinforcement learning-based swing-free trajectories planning algorithm for uav with a suspended load,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.493085Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:bb07ecab6083ae64d9a32ddd8d979a7a9782b4e19282770584a161535d503b1a","observation_id":"7c2a7a87-4770-4a5a-9c11-424f9bb321e3","resolution":{"observed_at":"2026-08-01T09:47:30.493085Z","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":"2026-08-01T09:47:30.645563Z","title":"Reinforcement learning based trajectory planning for multi- uav load transportation,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.645563Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:724b95ef8604153d422e87880ebbce2ae672eacee69fca99b9e4bbdbe443d9e6","observation_id":"70f6a528-8006-4a06-9abf-dcc6c8712193","resolution":{"observed_at":"2026-08-01T09:47:30.645563Z","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":"2026-08-01T09:47:30.850769Z","title":"Dral: Deep reinforcement adaptive learning for multi-uavs navigation in unknown indoor environment,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.850769Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:20e44356b6d9f68d66bcfe89955d950ec3edcaa618aa793894a23a0185a0bf09","observation_id":"88dc8a84-6350-4ace-8652-d570ddd7bf4a","resolution":{"observed_at":"2026-08-01T09:47:30.850769Z","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":"2026-08-01T09:47:30.991515Z","title":"Cooperative payload transportation by uavs: A model- based deep reinforcement learning (mbdrl) application,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:30.991515Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:059bbdc1f839851e4e60094f07d146073112b066bde489af3ee3cea15ad0d362","observation_id":"c1ad2744-2883-4bd4-be80-f00b7bb050bb","resolution":{"observed_at":"2026-08-01T09:47:30.991515Z","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":"2026-08-01T09:47:31.135341Z","title":"Multi-uav cooperative transportation using dy- namic control allocation and a reinforcement learning compensator,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.135341Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:52c4c41d9e3bf35c027fe8293ef508b026285e32097edf4da09eee9413e305e0","observation_id":"9c4f5338-7f75-45e7-b325-7ee447032776","resolution":{"observed_at":"2026-08-01T09:47:31.135341Z","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":"2026-08-01T09:47:31.346316Z","title":"Decentralized aerial manipulation of a cable-suspended load using multi-agent reinforcement learning,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.346316Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:5380f609a37f30117685f60d990e56d6d65fcb0c895aa2b225f0b26c4543c74c","observation_id":"415adb74-576d-4765-9dcf-880d8d35f7b3","resolution":{"observed_at":"2026-08-01T09:47:31.346316Z","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":"2026-08-01T09:47:31.486997Z","title":"Discrete GCBF proximal policy optimization for multi-agent safe optimal control,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.486997Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:ec771abb9e5be55ac61ad5dcbaaff9bef648097cefa667a2723687c7cb8949af","observation_id":"d4a87dba-e77c-4422-92dd-8727b261997f","resolution":{"observed_at":"2026-08-01T09:47:31.486997Z","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":"2026-08-01T09:47:31.616893Z","title":"GCBF+: A neural graph control barrier function framework for distributed safe multiagent control,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.616893Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:f2fc676bd15f354fe33c69bbd7e5a7244966b0abbab0dc922b7e07bd688d6023","observation_id":"63c99e8c-b27a-4ceb-a011-48e2f383ecc4","resolution":{"observed_at":"2026-08-01T09:47:31.616893Z","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":"2026-08-01T09:47:31.758072Z","title":"Control barrier functions: Theory and applications,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.758072Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:2f0e1bad158189c794613cf76ed948936c1bdc9acef82b9023571fe44ec48aee","observation_id":"563cf0d7-e543-47b1-878e-9393c79e7ef0","resolution":{"observed_at":"2026-08-01T09:47:31.758072Z","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":"2026-08-01T09:47:31.929245Z","title":"Control barrier functions and input-to-state safety with application to automated vehicles,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":40,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:31.929245Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:a5f9fcd7a29386ad1bb2bce53985b29406cf33c09993d5861086c5fd5e177818","observation_id":"f4827f87-9875-4312-822b-d188710460b7","resolution":{"observed_at":"2026-08-01T09:47:31.929245Z","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":"2026-08-01T09:47:32.073260Z","title":"Scalable multi-agent reinforcement learning through intelligent information aggregation,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":41,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:32.073260Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:810f07b7a4bfa67561d3055f7280340e7e841bf2a3a960e829ddb3cf808ad72b","observation_id":"b70cf21b-b165-4583-ab2a-e44916f43ae6","resolution":{"observed_at":"2026-08-01T09:47:32.073260Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2110.02793","last_updated":"2022-02-10T07:08:47Z","snapshot_observed_at":"2026-08-07T18:54:17.552613Z","submitted_at":"2021-10-06T14:17:09Z","title":"Multi-Agent Constrained Policy Optimisation","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2110.02793","snapshot_observed_at":"2026-08-01T09:47:32.256371Z","title":"Multi-agent constrained policy optimisation,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:32.256371Z"},"links":{"cited_paper":"/paper/2110.02793","citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:032370bbffb20f9d2285a81b251136bca7158d2933b3091471e41cadd8ad96cb","observation_id":"740eee4f-8047-4681-b0f3-df8148330499","resolution":{"observed_at":"2026-08-01T09:47:32.256371Z","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":"2026-08-01T09:47:32.448473Z","title":"Safe multi-agent reinforcement learning for multi-robot control,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer","version":1},"reference_index":43,"source":"pdf_text","source_observed_at":"2026-08-01T09:47:32.448473Z"},"links":{"citing_paper":"/paper/2607.20665"},"observation_digest":"sha256:86edb06294fb3e780321ae1d626b9b6208fc5f1a2b77a499d4b24ffaf908f876","observation_id":"f16abc0c-609b-407d-8113-a484f5896235","resolution":{"observed_at":"2026-08-01T09:47:32.448473Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2607.20665","last_updated":"2026-07-22T19:01:57Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-07T01:28:29.218462Z","submitted_at":"2026-07-22T19:01:57Z","title":"Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer"},"reference_resolution":{"displayed":43,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":43,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":43},"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":"2026-08-10T06:31:04.303077+00:00","source":"crossref"},{"observed_at":"2026-08-10T06:30:57.382061+00:00","source":"retraction_watch"}],"thesis":"As of 10 August 2026, this Paper Citation Record lists 43 of 43 outbound references and 0 inbound Pith citation observations for arXiv:2607.20665."}