{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:ESLNAGEMZL5KPQMTEIFNCKPPVB","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":"01bc08be674201e3449379f2605e2bf2d93fc929ecc5eb42ca34482de1cf5c25","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-30T13:01:49Z","title_canon_sha256":"6bf48af8cfaf943c99bb551e1be860a210d2bd50ce9ff5dfb292aed6e6af6173"},"schema_version":"1.0","source":{"id":"2108.13205","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.13205","created_at":"2026-07-05T04:20:15Z"},{"alias_kind":"arxiv_version","alias_value":"2108.13205v4","created_at":"2026-07-05T04:20:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.13205","created_at":"2026-07-05T04:20:15Z"},{"alias_kind":"pith_short_12","alias_value":"ESLNAGEMZL5K","created_at":"2026-07-05T04:20:15Z"},{"alias_kind":"pith_short_16","alias_value":"ESLNAGEMZL5KPQMT","created_at":"2026-07-05T04:20:15Z"},{"alias_kind":"pith_short_8","alias_value":"ESLNAGEM","created_at":"2026-07-05T04:20:15Z"}],"graph_snapshots":[{"event_id":"sha256:33dbd7e344f2016f149df62f59d5b5dc7404fa5a4bea9bab1eef34bde4510942","target":"graph","created_at":"2026-07-05T04:20:15Z","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/2108.13205/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control task - where this trajectory is accurately tracked. However, at the current state, generating a time-optimal trajectory that considers the full quadrotor model requires solving a difficult time allocation problem via optimization, which is computationally demanding (in the order of minutes or even hours). This is detrimental for replanning in presence of dist","authors_text":"Angel Romero, Davide Scaramuzza, Philipp Foehn, Sihao Sun","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-30T13:01:49Z","title":"Model Predictive Contouring Control for Time-Optimal Quadrotor Flight"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.13205","kind":"arxiv","version":4},"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:cb41dc65d261cd5fb3f42e8b2836a9732e09f7d01dd40814c736593e203d0226","target":"record","created_at":"2026-07-05T04:20:15Z","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":"01bc08be674201e3449379f2605e2bf2d93fc929ecc5eb42ca34482de1cf5c25","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-08-30T13:01:49Z","title_canon_sha256":"6bf48af8cfaf943c99bb551e1be860a210d2bd50ce9ff5dfb292aed6e6af6173"},"schema_version":"1.0","source":{"id":"2108.13205","kind":"arxiv","version":4}},"canonical_sha256":"2496d0188ccafaa7c193220ad129efa867a88244dad529e1505e51cff26e0604","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2496d0188ccafaa7c193220ad129efa867a88244dad529e1505e51cff26e0604","first_computed_at":"2026-07-05T04:20:15.814940Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:20:15.814940Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IMIwAFrnF3IlqjgKgbd8Z00GT8BrbBAzSdny4d//gN5YCiz0QJJLS2joOioIklDSYkZUFZ5JBWuquK/wuQC+BA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:20:15.815530Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.13205","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cb41dc65d261cd5fb3f42e8b2836a9732e09f7d01dd40814c736593e203d0226","sha256:33dbd7e344f2016f149df62f59d5b5dc7404fa5a4bea9bab1eef34bde4510942"],"state_sha256":"3d9ff7d35d2b24af55dd1c4667ae9bd3e0413863ed1e170ad6a7e4a860757184"}