{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:FWP6VUNUFYAE6UEBIW4OUHQPLS","short_pith_number":"pith:FWP6VUNU","schema_version":"1.0","canonical_sha256":"2d9fead1b42e004f508145b8ea1e0f5c855c43e4e69ba339db855af8ea3cbaf7","source":{"kind":"arxiv","id":"2211.02872","version":2},"attestation_state":"computed","paper":{"title":"Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Junya Yamauchi, Magnus Egerstedt, Mar\\'ia Santos, Masayuki Fujita, Mitsuji Sampei, Riku Funada, Ryuichi Maniwa","submitted_at":"2022-11-05T10:55:57Z","abstract_excerpt":"This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and sufficient condition for eliminating any unsurveilled area that may arise in between the FOVs among a trio of quadcopters by utilizing a power diagram, i.e. a weighted Voronoi diagram defined by radii of FOVs. Because this condition can be described as logically combined constraints, we leverage nonsmooth control barrier functions (NCBFs) to prevent the app"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2211.02872","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2022-11-05T10:55:57Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"85b10b2d6221024bfebac6db3a823b247219c027d482e510b65ff2063d01ccf0","abstract_canon_sha256":"8610a09dd8cf4f561b4f291ba8cf20c446fae7be949508be0a4a0ec735fdcc9a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:30:00.948566Z","signature_b64":"TzLKzmbHvvCjybjjm4PCqApYHI+qd7qBYoqvwIoRbpfgRlV9C/sPngGJ3ZMWVRv05vQpqJ+Lv1ETv2yq3wbkCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2d9fead1b42e004f508145b8ea1e0f5c855c43e4e69ba339db855af8ea3cbaf7","last_reissued_at":"2026-07-05T07:30:00.948108Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:30:00.948108Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Junya Yamauchi, Magnus Egerstedt, Mar\\'ia Santos, Masayuki Fujita, Mitsuji Sampei, Riku Funada, Ryuichi Maniwa","submitted_at":"2022-11-05T10:55:57Z","abstract_excerpt":"This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and sufficient condition for eliminating any unsurveilled area that may arise in between the FOVs among a trio of quadcopters by utilizing a power diagram, i.e. a weighted Voronoi diagram defined by radii of FOVs. Because this condition can be described as logically combined constraints, we leverage nonsmooth control barrier functions (NCBFs) to prevent the app"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2211.02872","kind":"arxiv","version":2},"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/2211.02872/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2211.02872","created_at":"2026-07-05T07:30:00.948166+00:00"},{"alias_kind":"arxiv_version","alias_value":"2211.02872v2","created_at":"2026-07-05T07:30:00.948166+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2211.02872","created_at":"2026-07-05T07:30:00.948166+00:00"},{"alias_kind":"pith_short_12","alias_value":"FWP6VUNUFYAE","created_at":"2026-07-05T07:30:00.948166+00:00"},{"alias_kind":"pith_short_16","alias_value":"FWP6VUNUFYAE6UEB","created_at":"2026-07-05T07:30:00.948166+00:00"},{"alias_kind":"pith_short_8","alias_value":"FWP6VUNU","created_at":"2026-07-05T07:30:00.948166+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS","json":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS.json","graph_json":"https://pith.science/api/pith-number/FWP6VUNUFYAE6UEBIW4OUHQPLS/graph.json","events_json":"https://pith.science/api/pith-number/FWP6VUNUFYAE6UEBIW4OUHQPLS/events.json","paper":"https://pith.science/paper/FWP6VUNU"},"agent_actions":{"view_html":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS","download_json":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS.json","view_paper":"https://pith.science/paper/FWP6VUNU","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2211.02872&json=true","fetch_graph":"https://pith.science/api/pith-number/FWP6VUNUFYAE6UEBIW4OUHQPLS/graph.json","fetch_events":"https://pith.science/api/pith-number/FWP6VUNUFYAE6UEBIW4OUHQPLS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS/action/storage_attestation","attest_author":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS/action/author_attestation","sign_citation":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS/action/citation_signature","submit_replication":"https://pith.science/pith/FWP6VUNUFYAE6UEBIW4OUHQPLS/action/replication_record"}},"created_at":"2026-07-05T07:30:00.948166+00:00","updated_at":"2026-07-05T07:30:00.948166+00:00"}