{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:AH4SQ26LKA23WAIDIAYHWYYLMH","short_pith_number":"pith:AH4SQ26L","schema_version":"1.0","canonical_sha256":"01f9286bcb5035bb010340307b630b61ff7ee0a3aff4cb1055832efe8316b887","source":{"kind":"arxiv","id":"2302.07208","version":2},"attestation_state":"computed","paper":{"title":"$\\mathcal{L}_1$Quad: $\\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Aditya Gahlawat, Arun Lakshmanan, Chengyu Yang, Jiahao Yu, Kasey A. Ackerman, Naira Hovakimyan, Pan Zhao, Sheng Cheng, Zhuohuan Wu","submitted_at":"2023-02-14T17:31:09Z","abstract_excerpt":"Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor's uncertain dynamics on the special Euclidean group SE(3). By leveraging the geometric controller and the L1 adaptive controller, the L1Quad architecture provides a theoretically justified framework for the design and analysis of quadrotor's tracking controller in the presence of nonlinear (time- and state-dependent) uncertainties on"},"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":"2302.07208","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"eess.SY","submitted_at":"2023-02-14T17:31:09Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"d8eb4509c764e5dd39d8a53ac1a2bd42d6e03a4c16ef706a33bf25c412036792","abstract_canon_sha256":"4213e67cea15f32f21d9c1dc086ac85b70f129cfc552b65dc57fb2b9a02a380e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:52:07.406450Z","signature_b64":"NSenHCOkmSXJLRiCP0XUXLUEvENumN4m/weTljOQg61JzxRvMmUjLKo/EgWvVexPiUeL3Fg210WL9G3LPy5bAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"01f9286bcb5035bb010340307b630b61ff7ee0a3aff4cb1055832efe8316b887","last_reissued_at":"2026-07-05T09:52:07.405966Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:52:07.405966Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"$\\mathcal{L}_1$Quad: $\\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Aditya Gahlawat, Arun Lakshmanan, Chengyu Yang, Jiahao Yu, Kasey A. Ackerman, Naira Hovakimyan, Pan Zhao, Sheng Cheng, Zhuohuan Wu","submitted_at":"2023-02-14T17:31:09Z","abstract_excerpt":"Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor's uncertain dynamics on the special Euclidean group SE(3). By leveraging the geometric controller and the L1 adaptive controller, the L1Quad architecture provides a theoretically justified framework for the design and analysis of quadrotor's tracking controller in the presence of nonlinear (time- and state-dependent) uncertainties on"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.07208","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/2302.07208/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":"2302.07208","created_at":"2026-07-05T09:52:07.406022+00:00"},{"alias_kind":"arxiv_version","alias_value":"2302.07208v2","created_at":"2026-07-05T09:52:07.406022+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.07208","created_at":"2026-07-05T09:52:07.406022+00:00"},{"alias_kind":"pith_short_12","alias_value":"AH4SQ26LKA23","created_at":"2026-07-05T09:52:07.406022+00:00"},{"alias_kind":"pith_short_16","alias_value":"AH4SQ26LKA23WAID","created_at":"2026-07-05T09:52:07.406022+00:00"},{"alias_kind":"pith_short_8","alias_value":"AH4SQ26L","created_at":"2026-07-05T09:52:07.406022+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/AH4SQ26LKA23WAIDIAYHWYYLMH","json":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH.json","graph_json":"https://pith.science/api/pith-number/AH4SQ26LKA23WAIDIAYHWYYLMH/graph.json","events_json":"https://pith.science/api/pith-number/AH4SQ26LKA23WAIDIAYHWYYLMH/events.json","paper":"https://pith.science/paper/AH4SQ26L"},"agent_actions":{"view_html":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH","download_json":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH.json","view_paper":"https://pith.science/paper/AH4SQ26L","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2302.07208&json=true","fetch_graph":"https://pith.science/api/pith-number/AH4SQ26LKA23WAIDIAYHWYYLMH/graph.json","fetch_events":"https://pith.science/api/pith-number/AH4SQ26LKA23WAIDIAYHWYYLMH/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH/action/timestamp_anchor","attest_storage":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH/action/storage_attestation","attest_author":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH/action/author_attestation","sign_citation":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH/action/citation_signature","submit_replication":"https://pith.science/pith/AH4SQ26LKA23WAIDIAYHWYYLMH/action/replication_record"}},"created_at":"2026-07-05T09:52:07.406022+00:00","updated_at":"2026-07-05T09:52:07.406022+00:00"}