{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:5ND3BNUZT2S3LPCMIC3HRAT42O","short_pith_number":"pith:5ND3BNUZ","schema_version":"1.0","canonical_sha256":"eb47b0b6999ea5b5bc4c40b678827cd39484d69ddf546c23d4cf416973a9d6e7","source":{"kind":"arxiv","id":"2003.06390","version":2},"attestation_state":"computed","paper":{"title":"Robust tracking of an unknown trajectory with a multi-rotor UAV: A high-gain observer approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"C. J. Boss, H. K. Khalil, V. Srivastava","submitted_at":"2020-03-13T17:25:10Z","abstract_excerpt":"We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We assume that only position and orientation measurements for the multi-rotor and position measurements for the reference system can be accessed. We adopt an extended high-gain observer (EHGO) estimation framework to estimate the feed-forward term required for trajectory tracking, the multi-rotor states, as well as modeling error and external disturbances. We design"},"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":"2003.06390","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-03-13T17:25:10Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"13241f4825ed4a55a38f2a3b7fe7e91c4cfcb27ad0ee0a89f7e73c7875dc217a","abstract_canon_sha256":"d9940d7d2a17f36ee303dec39bcceff05b849a389ebf72c10a015c66fd254267"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:58:50.354862Z","signature_b64":"j61H1pSY8ULLHwrhQELWk5OiZ6Mi6VNhvELDD2xSzASR8Zgx6w+bwMdm5n/fk2P1e9DwJLfVM7gIp6hAZAK9Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"eb47b0b6999ea5b5bc4c40b678827cd39484d69ddf546c23d4cf416973a9d6e7","last_reissued_at":"2026-07-05T00:58:50.354439Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:58:50.354439Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robust tracking of an unknown trajectory with a multi-rotor UAV: A high-gain observer approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"C. J. Boss, H. K. Khalil, V. Srivastava","submitted_at":"2020-03-13T17:25:10Z","abstract_excerpt":"We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We assume that only position and orientation measurements for the multi-rotor and position measurements for the reference system can be accessed. We adopt an extended high-gain observer (EHGO) estimation framework to estimate the feed-forward term required for trajectory tracking, the multi-rotor states, as well as modeling error and external disturbances. We design"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.06390","kind":"arxiv","version":2},"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/2003.06390/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":"2003.06390","created_at":"2026-07-05T00:58:50.354496+00:00"},{"alias_kind":"arxiv_version","alias_value":"2003.06390v2","created_at":"2026-07-05T00:58:50.354496+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.06390","created_at":"2026-07-05T00:58:50.354496+00:00"},{"alias_kind":"pith_short_12","alias_value":"5ND3BNUZT2S3","created_at":"2026-07-05T00:58:50.354496+00:00"},{"alias_kind":"pith_short_16","alias_value":"5ND3BNUZT2S3LPCM","created_at":"2026-07-05T00:58:50.354496+00:00"},{"alias_kind":"pith_short_8","alias_value":"5ND3BNUZ","created_at":"2026-07-05T00:58:50.354496+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/5ND3BNUZT2S3LPCMIC3HRAT42O","json":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O.json","graph_json":"https://pith.science/api/pith-number/5ND3BNUZT2S3LPCMIC3HRAT42O/graph.json","events_json":"https://pith.science/api/pith-number/5ND3BNUZT2S3LPCMIC3HRAT42O/events.json","paper":"https://pith.science/paper/5ND3BNUZ"},"agent_actions":{"view_html":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O","download_json":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O.json","view_paper":"https://pith.science/paper/5ND3BNUZ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2003.06390&json=true","fetch_graph":"https://pith.science/api/pith-number/5ND3BNUZT2S3LPCMIC3HRAT42O/graph.json","fetch_events":"https://pith.science/api/pith-number/5ND3BNUZT2S3LPCMIC3HRAT42O/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O/action/timestamp_anchor","attest_storage":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O/action/storage_attestation","attest_author":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O/action/author_attestation","sign_citation":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O/action/citation_signature","submit_replication":"https://pith.science/pith/5ND3BNUZT2S3LPCMIC3HRAT42O/action/replication_record"}},"created_at":"2026-07-05T00:58:50.354496+00:00","updated_at":"2026-07-05T00:58:50.354496+00:00"}