{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:626VOWVJLBPKRSAPEF2QLL35LG","short_pith_number":"pith:626VOWVJ","schema_version":"1.0","canonical_sha256":"f6bd575aa9585ea8c80f217505af7d59adef70ff1f8699e8400ac924e5b63d44","source":{"kind":"arxiv","id":"2606.23218","version":1},"attestation_state":"computed","paper":{"title":"Path-following Control of a Quadrotor using Quasi-Static Transverse Feedback Linearization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Adeel Akhtar, Mohamed Al Lawati","submitted_at":"2026-06-22T12:07:11Z","abstract_excerpt":"We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. In contrast to existing dynamic-feedback approaches, the controller does not introduce additional controller states. The thrust input is computed algebraically from the current state, eliminating the need for thrust-derivative measurements and numerical integration. The proposed design renders the path-following manifold invariant, ensuring that trajectories initialized on the path remain on it for all future time, wh"},"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":"2606.23218","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-06-22T12:07:11Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"9f8b0998e3a668764e5aa50c010d3a60e7c968fcff1520de6f09cca4885c5ea3","abstract_canon_sha256":"48fdde9662f4b59a31b6daa835c944af5539b74872d36d3b7d47a985187e21b6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T03:14:14.099432Z","signature_b64":"ZFa1IKcUgHg1F9UqeVeTZgysdocLo+cdK5FWb1vsBPYPWZberU1gvxwQooTWmrGggW293oaw6LOQ8P8Qwib1AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f6bd575aa9585ea8c80f217505af7d59adef70ff1f8699e8400ac924e5b63d44","last_reissued_at":"2026-06-23T03:14:14.099001Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T03:14:14.099001Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Path-following Control of a Quadrotor using Quasi-Static Transverse Feedback Linearization","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Adeel Akhtar, Mohamed Al Lawati","submitted_at":"2026-06-22T12:07:11Z","abstract_excerpt":"We propose a quasi-static transverse feedback linearization (QSTFL) controller for a quadrotor to follow a prescribed geometric path, rather than a time-parameterized trajectory. In contrast to existing dynamic-feedback approaches, the controller does not introduce additional controller states. The thrust input is computed algebraically from the current state, eliminating the need for thrust-derivative measurements and numerical integration. The proposed design renders the path-following manifold invariant, ensuring that trajectories initialized on the path remain on it for all future time, wh"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23218","kind":"arxiv","version":1},"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/2606.23218/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":"2606.23218","created_at":"2026-06-23T03:14:14.099066+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.23218v1","created_at":"2026-06-23T03:14:14.099066+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23218","created_at":"2026-06-23T03:14:14.099066+00:00"},{"alias_kind":"pith_short_12","alias_value":"626VOWVJLBPK","created_at":"2026-06-23T03:14:14.099066+00:00"},{"alias_kind":"pith_short_16","alias_value":"626VOWVJLBPKRSAP","created_at":"2026-06-23T03:14:14.099066+00:00"},{"alias_kind":"pith_short_8","alias_value":"626VOWVJ","created_at":"2026-06-23T03:14:14.099066+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/626VOWVJLBPKRSAPEF2QLL35LG","json":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG.json","graph_json":"https://pith.science/api/pith-number/626VOWVJLBPKRSAPEF2QLL35LG/graph.json","events_json":"https://pith.science/api/pith-number/626VOWVJLBPKRSAPEF2QLL35LG/events.json","paper":"https://pith.science/paper/626VOWVJ"},"agent_actions":{"view_html":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG","download_json":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG.json","view_paper":"https://pith.science/paper/626VOWVJ","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.23218&json=true","fetch_graph":"https://pith.science/api/pith-number/626VOWVJLBPKRSAPEF2QLL35LG/graph.json","fetch_events":"https://pith.science/api/pith-number/626VOWVJLBPKRSAPEF2QLL35LG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG/action/storage_attestation","attest_author":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG/action/author_attestation","sign_citation":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG/action/citation_signature","submit_replication":"https://pith.science/pith/626VOWVJLBPKRSAPEF2QLL35LG/action/replication_record"}},"created_at":"2026-06-23T03:14:14.099066+00:00","updated_at":"2026-06-23T03:14:14.099066+00:00"}