{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:JLNEI3DVM2NFF7FCDZWCCXRK2L","short_pith_number":"pith:JLNEI3DV","canonical_record":{"source":{"id":"1712.02402","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T20:35:23Z","cross_cats_sorted":[],"title_canon_sha256":"715748d880963a5ea492ffd8a7599a16f2a2ecbcc03d713e63480bf220b06df4","abstract_canon_sha256":"3da2e8aebc291bceae561a742a2fc39686b773175c9079c5c607dacd64773fb5"},"schema_version":"1.0"},"canonical_sha256":"4ada446c75669a52fca21e6c215e2ad2dfd193dd934ed9a96acaa9858b6b9ef1","source":{"kind":"arxiv","id":"1712.02402","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.02402","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"arxiv_version","alias_value":"1712.02402v3","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.02402","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"pith_short_12","alias_value":"JLNEI3DVM2NF","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JLNEI3DVM2NFF7FC","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JLNEI3DV","created_at":"2026-05-18T12:31:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:JLNEI3DVM2NFF7FCDZWCCXRK2L","target":"record","payload":{"canonical_record":{"source":{"id":"1712.02402","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T20:35:23Z","cross_cats_sorted":[],"title_canon_sha256":"715748d880963a5ea492ffd8a7599a16f2a2ecbcc03d713e63480bf220b06df4","abstract_canon_sha256":"3da2e8aebc291bceae561a742a2fc39686b773175c9079c5c607dacd64773fb5"},"schema_version":"1.0"},"canonical_sha256":"4ada446c75669a52fca21e6c215e2ad2dfd193dd934ed9a96acaa9858b6b9ef1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:19:56.656946Z","signature_b64":"DunJ+tx+0UHJf7Gzk0m3DvbwMUxlQdsisy5pQNjXQnOzx26hdRYr+WGAsHPuAGKOLYZRSC6cvuNBUjqcSMbICA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ada446c75669a52fca21e6c215e2ad2dfd193dd934ed9a96acaa9858b6b9ef1","last_reissued_at":"2026-05-18T00:19:56.656228Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:19:56.656228Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1712.02402","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:19:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6rI0eywzjtyBjRHEd0OcWjzoFCwKUJKazKaPDLVeQo3g9idtjez+8+4GygSnhm2CfyJbpvx6fsKYZDPgXzlMDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T14:55:12.809715Z"},"content_sha256":"257758424540186e06c1cd5d97a6286e578929a1a773a50d56f6abbd3a208bb0","schema_version":"1.0","event_id":"sha256:257758424540186e06c1cd5d97a6286e578929a1a773a50d56f6abbd3a208bb0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:JLNEI3DVM2NFF7FCDZWCCXRK2L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antonio Franchi, Davide Scaramuzza, Matthias Faessler","submitted_at":"2017-12-06T20:35:23Z","abstract_excerpt":"In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.02402","kind":"arxiv","version":3},"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":"2026-05-18T00:19:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"O6tj77DGQVP7gowiDoCPx81yTBHAUMvKkeFc01iThes3nMAo7+u95ioJQ3XrR2YNpDTKX52+ZmQzGo+QZxgVCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T14:55:12.810353Z"},"content_sha256":"e6aa3adc173f92879ab6aa7b0695fa00ea411258ed7eb6ade3eaf94cc3d325e1","schema_version":"1.0","event_id":"sha256:e6aa3adc173f92879ab6aa7b0695fa00ea411258ed7eb6ade3eaf94cc3d325e1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/bundle.json","state_url":"https://pith.science/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/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":"2026-05-28T14:55:12Z","links":{"resolver":"https://pith.science/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L","bundle":"https://pith.science/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/bundle.json","state":"https://pith.science/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JLNEI3DVM2NFF7FCDZWCCXRK2L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:JLNEI3DVM2NFF7FCDZWCCXRK2L","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":"3da2e8aebc291bceae561a742a2fc39686b773175c9079c5c607dacd64773fb5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T20:35:23Z","title_canon_sha256":"715748d880963a5ea492ffd8a7599a16f2a2ecbcc03d713e63480bf220b06df4"},"schema_version":"1.0","source":{"id":"1712.02402","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1712.02402","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"arxiv_version","alias_value":"1712.02402v3","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1712.02402","created_at":"2026-05-18T00:19:56Z"},{"alias_kind":"pith_short_12","alias_value":"JLNEI3DVM2NF","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_16","alias_value":"JLNEI3DVM2NFF7FC","created_at":"2026-05-18T12:31:24Z"},{"alias_kind":"pith_short_8","alias_value":"JLNEI3DV","created_at":"2026-05-18T12:31:24Z"}],"graph_snapshots":[{"event_id":"sha256:e6aa3adc173f92879ab6aa7b0695fa00ea411258ed7eb6ade3eaf94cc3d325e1","target":"graph","created_at":"2026-05-18T00:19:56Z","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":"In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference trajectory to be tracked. The obtained feed-forward terms are then used in a cascaded, nonlinear feedback control law that enables accurate agile flight with quadrotors. Compared to state-of-the-art control methods, which treat the rotor drag as an unknown disturbance, our method reduces the trajectory tracking error significantly. Finally, we present a method","authors_text":"Antonio Franchi, Davide Scaramuzza, Matthias Faessler","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T20:35:23Z","title":"Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1712.02402","kind":"arxiv","version":3},"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":"sha256:257758424540186e06c1cd5d97a6286e578929a1a773a50d56f6abbd3a208bb0","target":"record","created_at":"2026-05-18T00:19:56Z","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":"3da2e8aebc291bceae561a742a2fc39686b773175c9079c5c607dacd64773fb5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-12-06T20:35:23Z","title_canon_sha256":"715748d880963a5ea492ffd8a7599a16f2a2ecbcc03d713e63480bf220b06df4"},"schema_version":"1.0","source":{"id":"1712.02402","kind":"arxiv","version":3}},"canonical_sha256":"4ada446c75669a52fca21e6c215e2ad2dfd193dd934ed9a96acaa9858b6b9ef1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ada446c75669a52fca21e6c215e2ad2dfd193dd934ed9a96acaa9858b6b9ef1","first_computed_at":"2026-05-18T00:19:56.656228Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:19:56.656228Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DunJ+tx+0UHJf7Gzk0m3DvbwMUxlQdsisy5pQNjXQnOzx26hdRYr+WGAsHPuAGKOLYZRSC6cvuNBUjqcSMbICA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:19:56.656946Z","signed_message":"canonical_sha256_bytes"},"source_id":"1712.02402","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:257758424540186e06c1cd5d97a6286e578929a1a773a50d56f6abbd3a208bb0","sha256:e6aa3adc173f92879ab6aa7b0695fa00ea411258ed7eb6ade3eaf94cc3d325e1"],"state_sha256":"8a64f424bd107532010336a67d10997865859f60ac7418b1576b9827081ec9b3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/FuJ1rxH+Isnp0Qz0r5H9/e82feK8+VvKLKjYTfFDYXXtY8xmvp8H+PRPcPFD4bz6spS7hEyVbJUaVNTfkQmBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T14:55:12.812449Z","bundle_sha256":"81ee2abed7b3830b35944f9037b7caedf1d2f665c0e43cabf1e2d5d16e4bfabf"}}