{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:JCAFZUPUCHVWMS2YDTSW7IBJHP","short_pith_number":"pith:JCAFZUPU","canonical_record":{"source":{"id":"1701.08623","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-30T14:55:57Z","cross_cats_sorted":[],"title_canon_sha256":"d68b1acb0280ba6456db6527faf06a8a7895cfa3e0f1e7464a419ed87897f60e","abstract_canon_sha256":"c949f6503f30b1cdd08478b7dccb69817ac5bac04903ac9442ce3522210f3bd0"},"schema_version":"1.0"},"canonical_sha256":"48805cd1f411eb664b581ce56fa0293bf22e50903a4d991509d7dceabf87e094","source":{"kind":"arxiv","id":"1701.08623","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1701.08623","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"arxiv_version","alias_value":"1701.08623v2","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1701.08623","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"pith_short_12","alias_value":"JCAFZUPUCHVW","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"JCAFZUPUCHVWMS2Y","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"JCAFZUPU","created_at":"2026-05-18T12:31:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:JCAFZUPUCHVWMS2YDTSW7IBJHP","target":"record","payload":{"canonical_record":{"source":{"id":"1701.08623","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-30T14:55:57Z","cross_cats_sorted":[],"title_canon_sha256":"d68b1acb0280ba6456db6527faf06a8a7895cfa3e0f1e7464a419ed87897f60e","abstract_canon_sha256":"c949f6503f30b1cdd08478b7dccb69817ac5bac04903ac9442ce3522210f3bd0"},"schema_version":"1.0"},"canonical_sha256":"48805cd1f411eb664b581ce56fa0293bf22e50903a4d991509d7dceabf87e094","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:48:59.412898Z","signature_b64":"tsj2uaivqGBc9iNymBgPr4Nff5/KtIgiNqcV85Y5p2M3kbSG1kyxSTO5pMm/hhDN2NQmjLVnDF1tnlM1i/WKAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"48805cd1f411eb664b581ce56fa0293bf22e50903a4d991509d7dceabf87e094","last_reissued_at":"2026-05-18T00:48:59.412165Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:48:59.412165Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1701.08623","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:48:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VZtLaz+uprydqVdIlvDgxyy9MukiCiqN3YEF/fM/+CiFZQWcya1wY8PjmMMMCnJ7KXw743ub4o402omDFHVFDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T03:54:31.583694Z"},"content_sha256":"f9e68aa725c5c081b1c73f6351edf9f95ed2d6ede997f1bd79cc930cd0a4af1f","schema_version":"1.0","event_id":"sha256:f9e68aa725c5c081b1c73f6351edf9f95ed2d6ede997f1bd79cc930cd0a4af1f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:JCAFZUPUCHVWMS2YDTSW7IBJHP","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamic System Identification, and Control for a cost effective open-source VTOL MAV","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Inkyu Sa, Juan Nieto, Marija Popovic, Mina Kamel, Raghav Khanna, Roland Siegwart","submitted_at":"2017-01-30T14:55:57Z","abstract_excerpt":"This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers are identified using only a built-in IMU and utilized to design a subsequent model predictive controller (MPC). Experimental results for the control performance are evaluated using a motion capture system while performing hover, step responses, and trajectory following tasks in the present of external wind disturbances. We achieve root-mean-square (RMS) erro"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.08623","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":""},"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":"2026-05-18T00:48:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bITZruzISXZ59JXyDbr1EAqreI3aM6LNhJYmQTdn6/gRTcVpRkYHeOkf2E+pq6pOfIgqCZSwnnYBmSXvJMwEBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-31T03:54:31.584041Z"},"content_sha256":"ab5c78d6b09b07bd965660e56036578d041fac5a0863d204109b5e9012527163","schema_version":"1.0","event_id":"sha256:ab5c78d6b09b07bd965660e56036578d041fac5a0863d204109b5e9012527163"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/bundle.json","state_url":"https://pith.science/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/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":"2026-05-31T03:54:31Z","links":{"resolver":"https://pith.science/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP","bundle":"https://pith.science/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/bundle.json","state":"https://pith.science/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JCAFZUPUCHVWMS2YDTSW7IBJHP/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:JCAFZUPUCHVWMS2YDTSW7IBJHP","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":"c949f6503f30b1cdd08478b7dccb69817ac5bac04903ac9442ce3522210f3bd0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-30T14:55:57Z","title_canon_sha256":"d68b1acb0280ba6456db6527faf06a8a7895cfa3e0f1e7464a419ed87897f60e"},"schema_version":"1.0","source":{"id":"1701.08623","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1701.08623","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"arxiv_version","alias_value":"1701.08623v2","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1701.08623","created_at":"2026-05-18T00:48:59Z"},{"alias_kind":"pith_short_12","alias_value":"JCAFZUPUCHVW","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"JCAFZUPUCHVWMS2Y","created_at":"2026-05-18T12:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"JCAFZUPU","created_at":"2026-05-18T12:31:21Z"}],"graph_snapshots":[{"event_id":"sha256:ab5c78d6b09b07bd965660e56036578d041fac5a0863d204109b5e9012527163","target":"graph","created_at":"2026-05-18T00:48:59Z","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":"This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers are identified using only a built-in IMU and utilized to design a subsequent model predictive controller (MPC). Experimental results for the control performance are evaluated using a motion capture system while performing hover, step responses, and trajectory following tasks in the present of external wind disturbances. We achieve root-mean-square (RMS) erro","authors_text":"Inkyu Sa, Juan Nieto, Marija Popovic, Mina Kamel, Raghav Khanna, Roland Siegwart","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-30T14:55:57Z","title":"Dynamic System Identification, and Control for a cost effective open-source VTOL MAV"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1701.08623","kind":"arxiv","version":2},"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:f9e68aa725c5c081b1c73f6351edf9f95ed2d6ede997f1bd79cc930cd0a4af1f","target":"record","created_at":"2026-05-18T00:48:59Z","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":"c949f6503f30b1cdd08478b7dccb69817ac5bac04903ac9442ce3522210f3bd0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-01-30T14:55:57Z","title_canon_sha256":"d68b1acb0280ba6456db6527faf06a8a7895cfa3e0f1e7464a419ed87897f60e"},"schema_version":"1.0","source":{"id":"1701.08623","kind":"arxiv","version":2}},"canonical_sha256":"48805cd1f411eb664b581ce56fa0293bf22e50903a4d991509d7dceabf87e094","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"48805cd1f411eb664b581ce56fa0293bf22e50903a4d991509d7dceabf87e094","first_computed_at":"2026-05-18T00:48:59.412165Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:48:59.412165Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tsj2uaivqGBc9iNymBgPr4Nff5/KtIgiNqcV85Y5p2M3kbSG1kyxSTO5pMm/hhDN2NQmjLVnDF1tnlM1i/WKAA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:48:59.412898Z","signed_message":"canonical_sha256_bytes"},"source_id":"1701.08623","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f9e68aa725c5c081b1c73f6351edf9f95ed2d6ede997f1bd79cc930cd0a4af1f","sha256:ab5c78d6b09b07bd965660e56036578d041fac5a0863d204109b5e9012527163"],"state_sha256":"736316fd19447dc986f2cd56ae7fe60bd4db2cf5e9c363c9ffbc95a6cd81472d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sqe1+/kCdRPKu44WCiD7v/MpQsi0VgR3+8bXtVCmYjWWETCdhZXeqE6JQ4aYHKVylQ4rIrG62tvfhltI9i+yDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-31T03:54:31.586608Z","bundle_sha256":"f7e9cabfca062d807031956ab1c0a280d8d9aa8f742becdba71f0f88349f35e9"}}