{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2011:FG6JDUVJKAFWQWGJRDUZ642IGM","short_pith_number":"pith:FG6JDUVJ","canonical_record":{"source":{"id":"1111.0500","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-11-02T13:46:55Z","cross_cats_sorted":[],"title_canon_sha256":"eaf809bdd8d108850adf574e43fc8605fbf63a8a5e56e31de69400d822a3599e","abstract_canon_sha256":"5d52b838c28a15d0a74b3a5f2bd61973a49fb58d15adffaa262b8e050b4def3c"},"schema_version":"1.0"},"canonical_sha256":"29bc91d2a9500b6858c988e99f7348330b2860359c3833b473b5079c8452e114","source":{"kind":"arxiv","id":"1111.0500","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1111.0500","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"arxiv_version","alias_value":"1111.0500v1","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1111.0500","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"pith_short_12","alias_value":"FG6JDUVJKAFW","created_at":"2026-05-18T12:26:28Z"},{"alias_kind":"pith_short_16","alias_value":"FG6JDUVJKAFWQWGJ","created_at":"2026-05-18T12:26:28Z"},{"alias_kind":"pith_short_8","alias_value":"FG6JDUVJ","created_at":"2026-05-18T12:26:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2011:FG6JDUVJKAFWQWGJRDUZ642IGM","target":"record","payload":{"canonical_record":{"source":{"id":"1111.0500","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-11-02T13:46:55Z","cross_cats_sorted":[],"title_canon_sha256":"eaf809bdd8d108850adf574e43fc8605fbf63a8a5e56e31de69400d822a3599e","abstract_canon_sha256":"5d52b838c28a15d0a74b3a5f2bd61973a49fb58d15adffaa262b8e050b4def3c"},"schema_version":"1.0"},"canonical_sha256":"29bc91d2a9500b6858c988e99f7348330b2860359c3833b473b5079c8452e114","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:09:44.809863Z","signature_b64":"kzDoDPVncgiXwRH+2sd8bCvNPLmAaObG+MNxXDAHhrgqE13AEfThI5lU78IxRsKvgvJTOQbdoDlHFfHVPsRTDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"29bc91d2a9500b6858c988e99f7348330b2860359c3833b473b5079c8452e114","last_reissued_at":"2026-05-18T04:09:44.809356Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:09:44.809356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1111.0500","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":"2026-05-18T04:09:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MOlfjyhfFcFsIpko1ssoJ4eE6LDPxbUbHLD/b1ixzAeZVSMMshA40E4cVXyo9/NzlaPaOW/xLZx0sHVaJQGDCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T14:06:07.306777Z"},"content_sha256":"7e60278b527b46cae09444c703c5c296a36c822894d08561dc709a737792ed49","schema_version":"1.0","event_id":"sha256:7e60278b527b46cae09444c703c5c296a36c822894d08561dc709a737792ed49"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2011:FG6JDUVJKAFWQWGJRDUZ642IGM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Development of a Cost-efficient Autonomous MAV for an Unstructured Indoor Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kristof Jebens, Serge Kernbach","submitted_at":"2011-11-02T13:46:55Z","abstract_excerpt":"Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in hazardous areas. This work is devoted to the development of a cost-efficient micro aerial vehicle in a quadrocopter shape for developmental purposes within indoor scenarios. It has been constructed with off-the-shelf components available for mini helicopters. Additional sensors and electronics are incorporated into this aerial vehicle to stabilize its flight "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1111.0500","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":"2026-05-18T04:09:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bv8HAzG0U2Pm8DM4rCEJ5GlZwIigi8ZV1oK86gLOtCKbvlph8K7+SOMJwY24Caevt4CuE1n5D/ag6YUVNOEUAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T14:06:07.307120Z"},"content_sha256":"ddca6993ac0d6a1ed3348aad22d35cc19a967297ee270bf18d4637acb01f0f15","schema_version":"1.0","event_id":"sha256:ddca6993ac0d6a1ed3348aad22d35cc19a967297ee270bf18d4637acb01f0f15"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/bundle.json","state_url":"https://pith.science/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/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":"2026-06-30T14:06:07Z","links":{"resolver":"https://pith.science/pith/FG6JDUVJKAFWQWGJRDUZ642IGM","bundle":"https://pith.science/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/bundle.json","state":"https://pith.science/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FG6JDUVJKAFWQWGJRDUZ642IGM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2011:FG6JDUVJKAFWQWGJRDUZ642IGM","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":"5d52b838c28a15d0a74b3a5f2bd61973a49fb58d15adffaa262b8e050b4def3c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-11-02T13:46:55Z","title_canon_sha256":"eaf809bdd8d108850adf574e43fc8605fbf63a8a5e56e31de69400d822a3599e"},"schema_version":"1.0","source":{"id":"1111.0500","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1111.0500","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"arxiv_version","alias_value":"1111.0500v1","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1111.0500","created_at":"2026-05-18T04:09:44Z"},{"alias_kind":"pith_short_12","alias_value":"FG6JDUVJKAFW","created_at":"2026-05-18T12:26:28Z"},{"alias_kind":"pith_short_16","alias_value":"FG6JDUVJKAFWQWGJ","created_at":"2026-05-18T12:26:28Z"},{"alias_kind":"pith_short_8","alias_value":"FG6JDUVJ","created_at":"2026-05-18T12:26:28Z"}],"graph_snapshots":[{"event_id":"sha256:ddca6993ac0d6a1ed3348aad22d35cc19a967297ee270bf18d4637acb01f0f15","target":"graph","created_at":"2026-05-18T04:09:44Z","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":"Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in hazardous areas. This work is devoted to the development of a cost-efficient micro aerial vehicle in a quadrocopter shape for developmental purposes within indoor scenarios. It has been constructed with off-the-shelf components available for mini helicopters. Additional sensors and electronics are incorporated into this aerial vehicle to stabilize its flight ","authors_text":"Kristof Jebens, Serge Kernbach","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-11-02T13:46:55Z","title":"Development of a Cost-efficient Autonomous MAV for an Unstructured Indoor Environment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1111.0500","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":"sha256:7e60278b527b46cae09444c703c5c296a36c822894d08561dc709a737792ed49","target":"record","created_at":"2026-05-18T04:09:44Z","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":"5d52b838c28a15d0a74b3a5f2bd61973a49fb58d15adffaa262b8e050b4def3c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2011-11-02T13:46:55Z","title_canon_sha256":"eaf809bdd8d108850adf574e43fc8605fbf63a8a5e56e31de69400d822a3599e"},"schema_version":"1.0","source":{"id":"1111.0500","kind":"arxiv","version":1}},"canonical_sha256":"29bc91d2a9500b6858c988e99f7348330b2860359c3833b473b5079c8452e114","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"29bc91d2a9500b6858c988e99f7348330b2860359c3833b473b5079c8452e114","first_computed_at":"2026-05-18T04:09:44.809356Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:09:44.809356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kzDoDPVncgiXwRH+2sd8bCvNPLmAaObG+MNxXDAHhrgqE13AEfThI5lU78IxRsKvgvJTOQbdoDlHFfHVPsRTDA==","signature_status":"signed_v1","signed_at":"2026-05-18T04:09:44.809863Z","signed_message":"canonical_sha256_bytes"},"source_id":"1111.0500","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7e60278b527b46cae09444c703c5c296a36c822894d08561dc709a737792ed49","sha256:ddca6993ac0d6a1ed3348aad22d35cc19a967297ee270bf18d4637acb01f0f15"],"state_sha256":"9028320e4c96b0cbc5411ddf5ed48d06bfbea7cd61836d6f1b71368534428aaf"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YX6+IgTisubhCgI36xliMW6u1gwcvM8Gqz+S1WYuhrBifWMbjjxGvqnfeKqottrtVWF2xHos62HO8YIvbVQIDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T14:06:07.309067Z","bundle_sha256":"3a7dec4f1607664d1800086047388368545bf9ebfcc8df44bf1d44445318f6ce"}}