{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:COVKJWKT6SX52OXTRWWZMPRPLI","short_pith_number":"pith:COVKJWKT","canonical_record":{"source":{"id":"1906.11669","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-06-27T14:14:51Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"bdb48488fde4d93875b5936363d3bbdaf321468111a98d1a729451708c420a37","abstract_canon_sha256":"ec77bd7537cdf14080d1f59eacaf306945967426bb79df56987fb0698ad823f0"},"schema_version":"1.0"},"canonical_sha256":"13aaa4d953f4afdd3af38dad963e2f5a184e3fa2b309ac62d8da2db74cd053c3","source":{"kind":"arxiv","id":"1906.11669","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.11669","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"arxiv_version","alias_value":"1906.11669v1","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.11669","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"pith_short_12","alias_value":"COVKJWKT6SX5","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"COVKJWKT6SX52OXT","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"COVKJWKT","created_at":"2026-05-18T12:33:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:COVKJWKT6SX52OXTRWWZMPRPLI","target":"record","payload":{"canonical_record":{"source":{"id":"1906.11669","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-06-27T14:14:51Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"bdb48488fde4d93875b5936363d3bbdaf321468111a98d1a729451708c420a37","abstract_canon_sha256":"ec77bd7537cdf14080d1f59eacaf306945967426bb79df56987fb0698ad823f0"},"schema_version":"1.0"},"canonical_sha256":"13aaa4d953f4afdd3af38dad963e2f5a184e3fa2b309ac62d8da2db74cd053c3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:42:04.138689Z","signature_b64":"VTa3a01sk48T+A6I68nyQzxAnuQhrTa8e25PT6vyajFQS/7xMMzh+8IojLHcWY8RG6HdMrYAYTY4xmkHk9IoDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"13aaa4d953f4afdd3af38dad963e2f5a184e3fa2b309ac62d8da2db74cd053c3","last_reissued_at":"2026-05-17T23:42:04.137922Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:42:04.137922Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1906.11669","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:42:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ElyG82A7oQR9k94ioy2qIM3wc74ZiY9R0CyF/sdOQ4/wff0lq45dECIYzCrls1zNjjaY5l+cMGh0w5nfIifCCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T07:30:50.628659Z"},"content_sha256":"82676d3d79daefa69edf40350717601f42fe4c558c300cba8927c38f615d0281","schema_version":"1.0","event_id":"sha256:82676d3d79daefa69edf40350717601f42fe4c558c300cba8927c38f615d0281"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:COVKJWKT6SX52OXTRWWZMPRPLI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.HC","authors_text":"Benjamin Hepp, Christoph Gebhardt, Otmar Hilliges, Stefan Stevsic, Tobias Naegeli","submitted_at":"2019-06-27T14:14:51Z","abstract_excerpt":"In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases withoutrequiring deep knowledge in either quadrotor control or theunderlying constraints of the target domain. To achieve thisgoal we propose an optimization-based method that gener-ates feasible trajectories which can be flown in the real world.Furthermore, the method incorporates high-level human ob-jectives into the planning of flight trajectories. An easy t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.11669","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":""},"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:42:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ylAdY/g0QFQkSufuPCek/nwwr3Zvy+b5tFfMoAv6RBl6eDmPltRB+bXODB5l3dNxBVrgIo+wFb39Z+J4/o8GDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T07:30:50.629245Z"},"content_sha256":"2ff0f3efb917abf0744b78a2b5887142e76bb2b73bae62120ae8f2292b4460d4","schema_version":"1.0","event_id":"sha256:2ff0f3efb917abf0744b78a2b5887142e76bb2b73bae62120ae8f2292b4460d4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/COVKJWKT6SX52OXTRWWZMPRPLI/bundle.json","state_url":"https://pith.science/pith/COVKJWKT6SX52OXTRWWZMPRPLI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/COVKJWKT6SX52OXTRWWZMPRPLI/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-26T07:30:50Z","links":{"resolver":"https://pith.science/pith/COVKJWKT6SX52OXTRWWZMPRPLI","bundle":"https://pith.science/pith/COVKJWKT6SX52OXTRWWZMPRPLI/bundle.json","state":"https://pith.science/pith/COVKJWKT6SX52OXTRWWZMPRPLI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/COVKJWKT6SX52OXTRWWZMPRPLI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:COVKJWKT6SX52OXTRWWZMPRPLI","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":"ec77bd7537cdf14080d1f59eacaf306945967426bb79df56987fb0698ad823f0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-06-27T14:14:51Z","title_canon_sha256":"bdb48488fde4d93875b5936363d3bbdaf321468111a98d1a729451708c420a37"},"schema_version":"1.0","source":{"id":"1906.11669","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.11669","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"arxiv_version","alias_value":"1906.11669v1","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.11669","created_at":"2026-05-17T23:42:04Z"},{"alias_kind":"pith_short_12","alias_value":"COVKJWKT6SX5","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"COVKJWKT6SX52OXT","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"COVKJWKT","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:2ff0f3efb917abf0744b78a2b5887142e76bb2b73bae62120ae8f2292b4460d4","target":"graph","created_at":"2026-05-17T23:42:04Z","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":"In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases withoutrequiring deep knowledge in either quadrotor control or theunderlying constraints of the target domain. To achieve thisgoal we propose an optimization-based method that gener-ates feasible trajectories which can be flown in the real world.Furthermore, the method incorporates high-level human ob-jectives into the planning of flight trajectories. An easy t","authors_text":"Benjamin Hepp, Christoph Gebhardt, Otmar Hilliges, Stefan Stevsic, Tobias Naegeli","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-06-27T14:14:51Z","title":"Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.11669","kind":"arxiv","version":1},"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":"sha256:82676d3d79daefa69edf40350717601f42fe4c558c300cba8927c38f615d0281","target":"record","created_at":"2026-05-17T23:42:04Z","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":"ec77bd7537cdf14080d1f59eacaf306945967426bb79df56987fb0698ad823f0","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.HC","submitted_at":"2019-06-27T14:14:51Z","title_canon_sha256":"bdb48488fde4d93875b5936363d3bbdaf321468111a98d1a729451708c420a37"},"schema_version":"1.0","source":{"id":"1906.11669","kind":"arxiv","version":1}},"canonical_sha256":"13aaa4d953f4afdd3af38dad963e2f5a184e3fa2b309ac62d8da2db74cd053c3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"13aaa4d953f4afdd3af38dad963e2f5a184e3fa2b309ac62d8da2db74cd053c3","first_computed_at":"2026-05-17T23:42:04.137922Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:42:04.137922Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VTa3a01sk48T+A6I68nyQzxAnuQhrTa8e25PT6vyajFQS/7xMMzh+8IojLHcWY8RG6HdMrYAYTY4xmkHk9IoDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:42:04.138689Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.11669","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:82676d3d79daefa69edf40350717601f42fe4c558c300cba8927c38f615d0281","sha256:2ff0f3efb917abf0744b78a2b5887142e76bb2b73bae62120ae8f2292b4460d4"],"state_sha256":"8f5915c4455e9bb551a5db5ca0512eb8fbaed7f7a42312372ebf27e00aec103b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gq2awm/thpEcpwCkXYbnO09mKYHNkXoZ8T45bRByNnqLUsX2zUOZk+iWICjCKaXpVZDaB1XP7fUa24SSGM1iBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T07:30:50.632408Z","bundle_sha256":"37116d01f6ccf422660e1857ae66e8090fae1aa13964c2165afcbc7432b9752a"}}