{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2015:JGISSDI7U75ERFVTQXU7JK5SVG","short_pith_number":"pith:JGISSDI7","schema_version":"1.0","canonical_sha256":"4991290d1fa7fa4896b385e9f4abb2a9bb49f599dd3ff73fa2ef37e7867e6553","source":{"kind":"arxiv","id":"1511.02180","version":1},"attestation_state":"computed","paper":{"title":"Stabilization of a Rigid Body Payload with Multiple Cooperative Quadrotors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Farhad A. Goodarzi, Taeyoung Lee","submitted_at":"2015-11-06T18:15:40Z","abstract_excerpt":"This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is modeled as a system of arbitrary number of serially connected links. It is shown that a coordinate-free form of equations of motion can be derived for the complete model without any simplicity assumptions that commonly appear in other literature, according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid"},"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":"1511.02180","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-11-06T18:15:40Z","cross_cats_sorted":[],"title_canon_sha256":"50aaa95439c733e18329fe415470773ef2d2f443f619d53995237bf80d072d4a","abstract_canon_sha256":"92bc252b4eb9a75757a2f8f7aa1f8f76fb1e91a20a16e09bf625b3789bf660f9"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:27:37.552292Z","signature_b64":"cIoh3Qb1okYtUCRyVA/8/U3Ew2Ub9RdYxJrPIBkuqk5Mm5dfc98juNhc/hEOyZIOATQDkmVEsCVWNKj5cyGCAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4991290d1fa7fa4896b385e9f4abb2a9bb49f599dd3ff73fa2ef37e7867e6553","last_reissued_at":"2026-05-18T01:27:37.551659Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:27:37.551659Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Stabilization of a Rigid Body Payload with Multiple Cooperative Quadrotors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Farhad A. Goodarzi, Taeyoung Lee","submitted_at":"2015-11-06T18:15:40Z","abstract_excerpt":"This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is modeled as a system of arbitrary number of serially connected links. It is shown that a coordinate-free form of equations of motion can be derived for the complete model without any simplicity assumptions that commonly appear in other literature, according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1511.02180","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1511.02180","created_at":"2026-05-18T01:27:37.551773+00:00"},{"alias_kind":"arxiv_version","alias_value":"1511.02180v1","created_at":"2026-05-18T01:27:37.551773+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1511.02180","created_at":"2026-05-18T01:27:37.551773+00:00"},{"alias_kind":"pith_short_12","alias_value":"JGISSDI7U75E","created_at":"2026-05-18T12:29:27.538025+00:00"},{"alias_kind":"pith_short_16","alias_value":"JGISSDI7U75ERFVT","created_at":"2026-05-18T12:29:27.538025+00:00"},{"alias_kind":"pith_short_8","alias_value":"JGISSDI7","created_at":"2026-05-18T12:29:27.538025+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/JGISSDI7U75ERFVTQXU7JK5SVG","json":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG.json","graph_json":"https://pith.science/api/pith-number/JGISSDI7U75ERFVTQXU7JK5SVG/graph.json","events_json":"https://pith.science/api/pith-number/JGISSDI7U75ERFVTQXU7JK5SVG/events.json","paper":"https://pith.science/paper/JGISSDI7"},"agent_actions":{"view_html":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG","download_json":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG.json","view_paper":"https://pith.science/paper/JGISSDI7","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1511.02180&json=true","fetch_graph":"https://pith.science/api/pith-number/JGISSDI7U75ERFVTQXU7JK5SVG/graph.json","fetch_events":"https://pith.science/api/pith-number/JGISSDI7U75ERFVTQXU7JK5SVG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG/action/storage_attestation","attest_author":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG/action/author_attestation","sign_citation":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG/action/citation_signature","submit_replication":"https://pith.science/pith/JGISSDI7U75ERFVTQXU7JK5SVG/action/replication_record"}},"created_at":"2026-05-18T01:27:37.551773+00:00","updated_at":"2026-05-18T01:27:37.551773+00:00"}