{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:DB64UCH4WFNKJIR6GTUMOPM4I4","short_pith_number":"pith:DB64UCH4","canonical_record":{"source":{"id":"2109.04918","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T14:59:18Z","cross_cats_sorted":[],"title_canon_sha256":"7164312e03daf70928271556ff421795927928ba4f640d9f14765f78fc4a869b","abstract_canon_sha256":"78bb2838578ca738c74497bc1e2e82a99f3501f5f294a3c2fd63fa0feb85aa51"},"schema_version":"1.0"},"canonical_sha256":"187dca08fcb15aa4a23e34e8c73d9c470c2ce081a399783be787afc72608c88e","source":{"kind":"arxiv","id":"2109.04918","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.04918","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"arxiv_version","alias_value":"2109.04918v1","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.04918","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_12","alias_value":"DB64UCH4WFNK","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_16","alias_value":"DB64UCH4WFNKJIR6","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_8","alias_value":"DB64UCH4","created_at":"2026-07-05T03:13:11Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:DB64UCH4WFNKJIR6GTUMOPM4I4","target":"record","payload":{"canonical_record":{"source":{"id":"2109.04918","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T14:59:18Z","cross_cats_sorted":[],"title_canon_sha256":"7164312e03daf70928271556ff421795927928ba4f640d9f14765f78fc4a869b","abstract_canon_sha256":"78bb2838578ca738c74497bc1e2e82a99f3501f5f294a3c2fd63fa0feb85aa51"},"schema_version":"1.0"},"canonical_sha256":"187dca08fcb15aa4a23e34e8c73d9c470c2ce081a399783be787afc72608c88e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:13:11.458262Z","signature_b64":"hcwzEsyh5/kMAlprXDJbNs5Qld0TWqp0rSwilBIwF7lWGYuEZbbZua20B0pR3BdLJwEmYUOHKvpFnS6GUgaFAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"187dca08fcb15aa4a23e34e8c73d9c470c2ce081a399783be787afc72608c88e","last_reissued_at":"2026-07-05T03:13:11.457866Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:13:11.457866Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2109.04918","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":"2026-07-05T03:13:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"f3f/x988kfRgcEbr2/rZPUeTfs/3f7+V6SgD9DymZi1yxqv00NrSuqZT2LXzN1rHH4ZRfNu3QhiXy0RkrWtcBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-25T22:57:00.795518Z"},"content_sha256":"04bbc8d1b4d39d288ba89204a6405914313aec1e2694cb2db8ef8faa2bc249b3","schema_version":"1.0","event_id":"sha256:04bbc8d1b4d39d288ba89204a6405914313aec1e2694cb2db8ef8faa2bc249b3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:DB64UCH4WFNKJIR6GTUMOPM4I4","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyu Zhou, Chuhao Liu, Luqi Wang, Shaojie Shen","submitted_at":"2021-09-10T14:59:18Z","abstract_excerpt":"It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.04918","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/2109.04918/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:13:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kizXxhVlXri3dvWeIiVzZOU/doQipyhV8SBmAyzU2zzCIh5iOYHWUQre4NBa9nWCHHN3K1U+Tco+m2l9jl/iBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-25T22:57:00.795896Z"},"content_sha256":"a0cc5446a6aa722bb4d84bfb835197fd69b1131a19dd9a4bc412c51f2ae650a8","schema_version":"1.0","event_id":"sha256:a0cc5446a6aa722bb4d84bfb835197fd69b1131a19dd9a4bc412c51f2ae650a8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/bundle.json","state_url":"https://pith.science/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/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":"2026-07-25T22:57:00Z","links":{"resolver":"https://pith.science/pith/DB64UCH4WFNKJIR6GTUMOPM4I4","bundle":"https://pith.science/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/bundle.json","state":"https://pith.science/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DB64UCH4WFNKJIR6GTUMOPM4I4/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:DB64UCH4WFNKJIR6GTUMOPM4I4","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":"78bb2838578ca738c74497bc1e2e82a99f3501f5f294a3c2fd63fa0feb85aa51","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T14:59:18Z","title_canon_sha256":"7164312e03daf70928271556ff421795927928ba4f640d9f14765f78fc4a869b"},"schema_version":"1.0","source":{"id":"2109.04918","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2109.04918","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"arxiv_version","alias_value":"2109.04918v1","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2109.04918","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_12","alias_value":"DB64UCH4WFNK","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_16","alias_value":"DB64UCH4WFNKJIR6","created_at":"2026-07-05T03:13:11Z"},{"alias_kind":"pith_short_8","alias_value":"DB64UCH4","created_at":"2026-07-05T03:13:11Z"}],"graph_snapshots":[{"event_id":"sha256:a0cc5446a6aa722bb4d84bfb835197fd69b1131a19dd9a4bc412c51f2ae650a8","target":"graph","created_at":"2026-07-05T03:13:11Z","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/2109.04918/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are con","authors_text":"Boyu Zhou, Chuhao Liu, Luqi Wang, Shaojie Shen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T14:59:18Z","title":"Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2109.04918","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":"sha256:04bbc8d1b4d39d288ba89204a6405914313aec1e2694cb2db8ef8faa2bc249b3","target":"record","created_at":"2026-07-05T03:13:11Z","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":"78bb2838578ca738c74497bc1e2e82a99f3501f5f294a3c2fd63fa0feb85aa51","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-09-10T14:59:18Z","title_canon_sha256":"7164312e03daf70928271556ff421795927928ba4f640d9f14765f78fc4a869b"},"schema_version":"1.0","source":{"id":"2109.04918","kind":"arxiv","version":1}},"canonical_sha256":"187dca08fcb15aa4a23e34e8c73d9c470c2ce081a399783be787afc72608c88e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"187dca08fcb15aa4a23e34e8c73d9c470c2ce081a399783be787afc72608c88e","first_computed_at":"2026-07-05T03:13:11.457866Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:13:11.457866Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hcwzEsyh5/kMAlprXDJbNs5Qld0TWqp0rSwilBIwF7lWGYuEZbbZua20B0pR3BdLJwEmYUOHKvpFnS6GUgaFAw==","signature_status":"signed_v1","signed_at":"2026-07-05T03:13:11.458262Z","signed_message":"canonical_sha256_bytes"},"source_id":"2109.04918","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:04bbc8d1b4d39d288ba89204a6405914313aec1e2694cb2db8ef8faa2bc249b3","sha256:a0cc5446a6aa722bb4d84bfb835197fd69b1131a19dd9a4bc412c51f2ae650a8"],"state_sha256":"0c433ed940cb8e11b655ee1c15c48298a0bfd0df8e97d0ad1f7a27e170d9e64a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ecL6AQGEh3z/bBfuGgcGBYrbRWNmvEKKBfJ4OU5h1SeQ4tlgyK9/zVWat65KLwefcup1keoy9OqUQYoNKHM+Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-25T22:57:00.798031Z","bundle_sha256":"eb5c3d96936d4ab40eec453a7628e303042ced0bb328b668ed27ecb6506c03b4"}}