{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:D3IAK2EXJADE27GYI4EPOEXIW4","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":"6f5c317c8a5bb3b2cb655a38fd59f6d222fa5588e6cc9024d8bffcd92fe34201","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-02T17:30:38Z","title_canon_sha256":"19cecec3388be9b9ecc6d6031bedbbcac40eea0d5aa974ea831c501afc1564dc"},"schema_version":"1.0","source":{"id":"1907.01531","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.01531","created_at":"2026-05-17T23:41:35Z"},{"alias_kind":"arxiv_version","alias_value":"1907.01531v2","created_at":"2026-05-17T23:41:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.01531","created_at":"2026-05-17T23:41:35Z"},{"alias_kind":"pith_short_12","alias_value":"D3IAK2EXJADE","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_16","alias_value":"D3IAK2EXJADE27GY","created_at":"2026-05-18T12:33:15Z"},{"alias_kind":"pith_short_8","alias_value":"D3IAK2EX","created_at":"2026-05-18T12:33:15Z"}],"graph_snapshots":[{"event_id":"sha256:8625d518f996f0b9f02567c0d554b51a658621247bf21f91bc3c18076c054807","target":"graph","created_at":"2026-05-17T23:41:35Z","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 robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial trajectory in the discretized control space. We improve the smoothness and clearance of the trajectory by a B-spline optimization, which incorporates gradient information from a Euclidean distance field (EDF) and dynamic constraints efficiently utilizing the convex hull property of B-spline. Finally, by representing the final trajectory as a non-uniform B-spline, ","authors_text":"Boyu Zhou, Chuhao Liu, Fei Gao, Luqi Wang, Shaojie Shen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-02T17:30:38Z","title":"Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.01531","kind":"arxiv","version":2},"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:aded0e958a7c26e902130e226a18831fb6f5fc1d6c5a88a8f65eeeb3c1b6fb61","target":"record","created_at":"2026-05-17T23:41:35Z","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":"6f5c317c8a5bb3b2cb655a38fd59f6d222fa5588e6cc9024d8bffcd92fe34201","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-02T17:30:38Z","title_canon_sha256":"19cecec3388be9b9ecc6d6031bedbbcac40eea0d5aa974ea831c501afc1564dc"},"schema_version":"1.0","source":{"id":"1907.01531","kind":"arxiv","version":2}},"canonical_sha256":"1ed005689748064d7cd84708f712e8b737eb8a03c69c38b2b58f37619bdb5a7e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1ed005689748064d7cd84708f712e8b737eb8a03c69c38b2b58f37619bdb5a7e","first_computed_at":"2026-05-17T23:41:35.967805Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:41:35.967805Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VyW5QWYlOxo0/AE2bCOeAMNXDWxEiDKKUTlH1+RmMoYBP2JIjxg3qBPGZOAoUdBonGYB1E4ClhRtujtmX28pAQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:41:35.968309Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.01531","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aded0e958a7c26e902130e226a18831fb6f5fc1d6c5a88a8f65eeeb3c1b6fb61","sha256:8625d518f996f0b9f02567c0d554b51a658621247bf21f91bc3c18076c054807"],"state_sha256":"37583550be316af1bdee4383d16cca0dd666851989a7707c785992cb9b1190a6"}