{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:3YD4GIZYH4M2EQWKJMNO2MWEKB","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"e3701575d6a37a7102bb54a07f94fcc727f884ce7778c2449cd4f537596dcbb9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-14T19:47:28Z","title_canon_sha256":"8ced1069f261ba38694155f4d4daf838fe73b7e9b21787ba3a7045705b30a6a4"},"schema_version":"1.0","source":{"id":"1403.3684","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1403.3684","created_at":"2026-05-18T02:55:58Z"},{"alias_kind":"arxiv_version","alias_value":"1403.3684v2","created_at":"2026-05-18T02:55:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1403.3684","created_at":"2026-05-18T02:55:58Z"},{"alias_kind":"pith_short_12","alias_value":"3YD4GIZYH4M2","created_at":"2026-05-18T12:28:11Z"},{"alias_kind":"pith_short_16","alias_value":"3YD4GIZYH4M2EQWK","created_at":"2026-05-18T12:28:11Z"},{"alias_kind":"pith_short_8","alias_value":"3YD4GIZY","created_at":"2026-05-18T12:28:11Z"}],"graph_snapshots":[{"event_id":"sha256:4ef878fc8030ce5bb913aaef12e3a8b5cbed7493a3e998590fdac9c06d97490c","target":"graph","created_at":"2026-05-18T02:55:58Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links, control systems for quadrotors are constructed such that the rigid body asymptotically follows a given desired position and attitude trajectory. These are developed in a coordinate-free fashion to avoid singularities and complexities associated with local parameterizations.","authors_text":"Taeyoung Lee","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-14T19:47:28Z","title":"Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1403.3684","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:a2f1fd9b9406ddd5d28bcaf1d25691c5b359ecf0ad84b22e838a0e07fc754c29","target":"record","created_at":"2026-05-18T02:55:58Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"e3701575d6a37a7102bb54a07f94fcc727f884ce7778c2449cd4f537596dcbb9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-03-14T19:47:28Z","title_canon_sha256":"8ced1069f261ba38694155f4d4daf838fe73b7e9b21787ba3a7045705b30a6a4"},"schema_version":"1.0","source":{"id":"1403.3684","kind":"arxiv","version":2}},"canonical_sha256":"de07c323383f19a242ca4b1aed32c4505445ef228b53c145dad798697026d4aa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"de07c323383f19a242ca4b1aed32c4505445ef228b53c145dad798697026d4aa","first_computed_at":"2026-05-18T02:55:58.506656Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:55:58.506656Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GXvJP4CK/n/yw6LmsEEuLeSLuWrZ3GW0Gzj1yV9Q9nYkkpmoumDZGKJArD5fpQ5Cq3ABNHgyOxULZ7DY2yFxBA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:55:58.507131Z","signed_message":"canonical_sha256_bytes"},"source_id":"1403.3684","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a2f1fd9b9406ddd5d28bcaf1d25691c5b359ecf0ad84b22e838a0e07fc754c29","sha256:4ef878fc8030ce5bb913aaef12e3a8b5cbed7493a3e998590fdac9c06d97490c"],"state_sha256":"9fddc58a3d7be6e20db04b690a8dc1c4526c0e667eac86cfe47044351d9a1513"}