{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:G6XO6QVAP2OJZAV3A63SYFSX6O","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":"26384194b26d165249df3418dd5c8d9f8c199e7ee1d291a80d4a3ea72d1ebe3c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-27T02:17:17Z","title_canon_sha256":"739b9d70301e977862b903f1eed78075a0a67e403dc3d1bba7a208a4d64d0e77"},"schema_version":"1.0","source":{"id":"1604.07905","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1604.07905","created_at":"2026-05-18T01:16:08Z"},{"alias_kind":"arxiv_version","alias_value":"1604.07905v1","created_at":"2026-05-18T01:16:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1604.07905","created_at":"2026-05-18T01:16:08Z"},{"alias_kind":"pith_short_12","alias_value":"G6XO6QVAP2OJ","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_16","alias_value":"G6XO6QVAP2OJZAV3","created_at":"2026-05-18T12:30:15Z"},{"alias_kind":"pith_short_8","alias_value":"G6XO6QVA","created_at":"2026-05-18T12:30:15Z"}],"graph_snapshots":[{"event_id":"sha256:bf610d4719ab397173e67a20522eac2208bb33c1cbdb718be7f044769a0dd528","target":"graph","created_at":"2026-05-18T01:16:08Z","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":"We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware trajectory-optimization framework for nonlinear systems that produces trajectories well suited for self-calibration. Common trajectory-planning algorithms tend to generate motions that lead to an unobservable subspace of the system state, causing suboptimal state estimation. We address this problem with a method that reasons about the quality of observability while respe","authors_text":"Gaurav Sukhatme, James Preiss, Karol Hausman, Stephan Weiss","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-27T02:17:17Z","title":"Observability-Aware Trajectory Optimization for Self-Calibration with Application to UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1604.07905","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:ae11c08853332d548eb18ad8942eb482894efd1b1b29a9db1f9e16c1bfa44741","target":"record","created_at":"2026-05-18T01:16:08Z","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":"26384194b26d165249df3418dd5c8d9f8c199e7ee1d291a80d4a3ea72d1ebe3c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-04-27T02:17:17Z","title_canon_sha256":"739b9d70301e977862b903f1eed78075a0a67e403dc3d1bba7a208a4d64d0e77"},"schema_version":"1.0","source":{"id":"1604.07905","kind":"arxiv","version":1}},"canonical_sha256":"37aeef42a07e9c9c82bb07b72c1657f3be62f2c487afa336bb43dfb12d2543d9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"37aeef42a07e9c9c82bb07b72c1657f3be62f2c487afa336bb43dfb12d2543d9","first_computed_at":"2026-05-18T01:16:08.647809Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:16:08.647809Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"OywIsSeN1X0VuOUpGibZFralN6vUr6PGydV/fHmBWqzvq92NQ5Yxptt0SChlJ9uwr04YQ/g/aeV6TxIrrCNzDQ==","signature_status":"signed_v1","signed_at":"2026-05-18T01:16:08.648558Z","signed_message":"canonical_sha256_bytes"},"source_id":"1604.07905","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ae11c08853332d548eb18ad8942eb482894efd1b1b29a9db1f9e16c1bfa44741","sha256:bf610d4719ab397173e67a20522eac2208bb33c1cbdb718be7f044769a0dd528"],"state_sha256":"a5b70269e13b535816a38e162cacbadbc5665c49fb7c1babd194c94bf576e99e"}