{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:3IDNOKRDBU5ANKZTLSDLVMKDCV","short_pith_number":"pith:3IDNOKRD","schema_version":"1.0","canonical_sha256":"da06d72a230d3a06ab335c86bab143154c493a62476484ecb4ad80c3a89f8f0d","source":{"kind":"arxiv","id":"2102.13544","version":3},"attestation_state":"computed","paper":{"title":"Robust Adaptive Model Predictive Control of Quadrotors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Alexandre Didier, Anilkumar Parsi, Jeremy Coulson, Roy S. Smith","submitted_at":"2021-02-26T15:35:15Z","abstract_excerpt":"Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far only been developed in theory. The goal of this paper is to apply RAMPC to a physical quadrotor experiment. To the best of our knowledge this is the first time that RAMPC has been applied in practice using a state space formulation. In doing so, we highlight important practical challenges such as computation of $\\lambda$-contractive polytopes and dealing with m"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2102.13544","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-02-26T15:35:15Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"ccd151a83fe4cd4d24b6d3bc750e62d70a760277a70fe9994043f9ef19af0cfc","abstract_canon_sha256":"01d8953066b1b22d261c4244958a427fd37742cc418e1442c006ec77a1c40bc9"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:09:05.692195Z","signature_b64":"xUmXa9RvlVVa+ufv2OSy090pwk3ht3j/DzUVnTZ3ZWFqwS3MVGuKaY9jHfT+GvFHVMMuCZjlHcX4AM6/exgwBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"da06d72a230d3a06ab335c86bab143154c493a62476484ecb4ad80c3a89f8f0d","last_reissued_at":"2026-07-05T03:09:05.691723Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:09:05.691723Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robust Adaptive Model Predictive Control of Quadrotors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Alexandre Didier, Anilkumar Parsi, Jeremy Coulson, Roy S. Smith","submitted_at":"2021-02-26T15:35:15Z","abstract_excerpt":"Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far only been developed in theory. The goal of this paper is to apply RAMPC to a physical quadrotor experiment. To the best of our knowledge this is the first time that RAMPC has been applied in practice using a state space formulation. In doing so, we highlight important practical challenges such as computation of $\\lambda$-contractive polytopes and dealing with m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2102.13544","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2102.13544/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2102.13544","created_at":"2026-07-05T03:09:05.691780+00:00"},{"alias_kind":"arxiv_version","alias_value":"2102.13544v3","created_at":"2026-07-05T03:09:05.691780+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2102.13544","created_at":"2026-07-05T03:09:05.691780+00:00"},{"alias_kind":"pith_short_12","alias_value":"3IDNOKRDBU5A","created_at":"2026-07-05T03:09:05.691780+00:00"},{"alias_kind":"pith_short_16","alias_value":"3IDNOKRDBU5ANKZT","created_at":"2026-07-05T03:09:05.691780+00:00"},{"alias_kind":"pith_short_8","alias_value":"3IDNOKRD","created_at":"2026-07-05T03:09:05.691780+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV","json":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV.json","graph_json":"https://pith.science/api/pith-number/3IDNOKRDBU5ANKZTLSDLVMKDCV/graph.json","events_json":"https://pith.science/api/pith-number/3IDNOKRDBU5ANKZTLSDLVMKDCV/events.json","paper":"https://pith.science/paper/3IDNOKRD"},"agent_actions":{"view_html":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV","download_json":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV.json","view_paper":"https://pith.science/paper/3IDNOKRD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2102.13544&json=true","fetch_graph":"https://pith.science/api/pith-number/3IDNOKRDBU5ANKZTLSDLVMKDCV/graph.json","fetch_events":"https://pith.science/api/pith-number/3IDNOKRDBU5ANKZTLSDLVMKDCV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV/action/storage_attestation","attest_author":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV/action/author_attestation","sign_citation":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV/action/citation_signature","submit_replication":"https://pith.science/pith/3IDNOKRDBU5ANKZTLSDLVMKDCV/action/replication_record"}},"created_at":"2026-07-05T03:09:05.691780+00:00","updated_at":"2026-07-05T03:09:05.691780+00:00"}