{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:6WNJNZ3YF5CKAB6FMO3KXPTMRD","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":"c72b4e27ce15a6ec15b9a500633d720cbbb1f8f315e4745da7769ca85397f926","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-04T03:13:51Z","title_canon_sha256":"58ddcc5cf9d4dd7dd86a39f5c89ff8ef383c18b54b5542346d40f62ea6edced1"},"schema_version":"1.0","source":{"id":"2009.01992","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2009.01992","created_at":"2026-07-05T02:33:54Z"},{"alias_kind":"arxiv_version","alias_value":"2009.01992v3","created_at":"2026-07-05T02:33:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2009.01992","created_at":"2026-07-05T02:33:54Z"},{"alias_kind":"pith_short_12","alias_value":"6WNJNZ3YF5CK","created_at":"2026-07-05T02:33:54Z"},{"alias_kind":"pith_short_16","alias_value":"6WNJNZ3YF5CKAB6F","created_at":"2026-07-05T02:33:54Z"},{"alias_kind":"pith_short_8","alias_value":"6WNJNZ3Y","created_at":"2026-07-05T02:33:54Z"}],"graph_snapshots":[{"event_id":"sha256:58e26ed9f6ed237103bb24ff362384591dee0fe1fae6477f6a630acf31de095a","target":"graph","created_at":"2026-07-05T02:33:54Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2009.01992/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded quadratic programming control (SPQC) for safe trajectory tracking under wind disturbances. The SPQC controller consists of a position-level controller and an attitude-level controller. Gaussian Processes (GPs) are utilized to estimate the uncertainties caused by wind disturbances, and then a nominal Lyapunov-based cascaded quadratic program (QP) controller is designed to track the reference trajectory. To avoid unexp","authors_text":"Hui Cheng, Jiesen Pan, Lei Zheng, Rui Yang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-04T03:13:51Z","title":"Safe Learning-based Tracking Control for Quadrotors under Wind Disturbances"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2009.01992","kind":"arxiv","version":3},"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":"sha256:1315d22806245cdc4ec8020131774def9e05a45a6176ea9dddc69f8e80806c1a","target":"record","created_at":"2026-07-05T02:33:54Z","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":"c72b4e27ce15a6ec15b9a500633d720cbbb1f8f315e4745da7769ca85397f926","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-09-04T03:13:51Z","title_canon_sha256":"58ddcc5cf9d4dd7dd86a39f5c89ff8ef383c18b54b5542346d40f62ea6edced1"},"schema_version":"1.0","source":{"id":"2009.01992","kind":"arxiv","version":3}},"canonical_sha256":"f59a96e7782f44a007c563b6abbe6c88f13187862e211df617bb9de10313bdb6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f59a96e7782f44a007c563b6abbe6c88f13187862e211df617bb9de10313bdb6","first_computed_at":"2026-07-05T02:33:54.781652Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:33:54.781652Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EGwcyCVfzzk0pWDx9UMDyNn+s6nVBVXT2w9467HorYiiEHY8ti6nh+48Kmm2XeFZUA5ovj6jja0XFb0JwyokDA==","signature_status":"signed_v1","signed_at":"2026-07-05T02:33:54.782161Z","signed_message":"canonical_sha256_bytes"},"source_id":"2009.01992","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1315d22806245cdc4ec8020131774def9e05a45a6176ea9dddc69f8e80806c1a","sha256:58e26ed9f6ed237103bb24ff362384591dee0fe1fae6477f6a630acf31de095a"],"state_sha256":"862e09e38b1fe13a104240763aa78747703bbd38bc13510e0bf1a17d3efdcf8d"}