{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:JUNHNWGPTIP6SIFJLZJZRWNU7L","short_pith_number":"pith:JUNHNWGP","canonical_record":{"source":{"id":"2301.08545","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-20T13:03:25Z","cross_cats_sorted":[],"title_canon_sha256":"92342d8a0afa4aede5546284f50d8d5a861c2d394abf9d70f9d52a22fa0f094a","abstract_canon_sha256":"816417e37fa021f534beb46920a4ea77577d8142bb45caeba9803ae21addbae2"},"schema_version":"1.0"},"canonical_sha256":"4d1a76d8cf9a1fe920a95e5398d9b4faee154867c88f939f4b062943c8dbb2eb","source":{"kind":"arxiv","id":"2301.08545","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.08545","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"arxiv_version","alias_value":"2301.08545v4","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.08545","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_12","alias_value":"JUNHNWGPTIP6","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_16","alias_value":"JUNHNWGPTIP6SIFJ","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_8","alias_value":"JUNHNWGP","created_at":"2026-07-05T06:00:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:JUNHNWGPTIP6SIFJLZJZRWNU7L","target":"record","payload":{"canonical_record":{"source":{"id":"2301.08545","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-20T13:03:25Z","cross_cats_sorted":[],"title_canon_sha256":"92342d8a0afa4aede5546284f50d8d5a861c2d394abf9d70f9d52a22fa0f094a","abstract_canon_sha256":"816417e37fa021f534beb46920a4ea77577d8142bb45caeba9803ae21addbae2"},"schema_version":"1.0"},"canonical_sha256":"4d1a76d8cf9a1fe920a95e5398d9b4faee154867c88f939f4b062943c8dbb2eb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:00:15.867723Z","signature_b64":"IdUEt2XZP+q18kJeiS6cN6hdBkfVNpIPTLEzgfnu/vxsttDZyIxLzg1yxg7tqX71DKZIT1AWVaioP9raI0bVCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4d1a76d8cf9a1fe920a95e5398d9b4faee154867c88f939f4b062943c8dbb2eb","last_reissued_at":"2026-07-05T06:00:15.867235Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:00:15.867235Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2301.08545","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:00:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EQa5OQKsXcx5d+mvYqwkKp0mZ4wWN9mvTXWXq4IPr8XMAWVSAkVQV3XDBNEgzOlwMt9VkZ1jdd2BvuNzrW6GDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T07:10:55.568794Z"},"content_sha256":"cf61d38c45c0f9730a573787669a1baf6de762140f3c3fad2ddc70f28e8169b9","schema_version":"1.0","event_id":"sha256:cf61d38c45c0f9730a573787669a1baf6de762140f3c3fad2ddc70f28e8169b9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:JUNHNWGPTIP6SIFJLZJZRWNU7L","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Antonio Franchi, Sihao Sun","submitted_at":"2023-01-20T13:03:25Z","abstract_excerpt":"In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.08545","kind":"arxiv","version":4},"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/2301.08545/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:00:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AwB3eWxy3oygCb6LUM8E3rhm93NlrWuxB0De2gB4xj/zcSevF6wTFY3Mx3NM2olptVQu1Rkp+XH36regsnUqBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T07:10:55.569344Z"},"content_sha256":"5b31eb50a4856517324f6f366f7799c7169db0a4900378442efbd077640b8d29","schema_version":"1.0","event_id":"sha256:5b31eb50a4856517324f6f366f7799c7169db0a4900378442efbd077640b8d29"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/bundle.json","state_url":"https://pith.science/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/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":"2026-08-18T07:10:55Z","links":{"resolver":"https://pith.science/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L","bundle":"https://pith.science/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/bundle.json","state":"https://pith.science/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JUNHNWGPTIP6SIFJLZJZRWNU7L/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:JUNHNWGPTIP6SIFJLZJZRWNU7L","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":"816417e37fa021f534beb46920a4ea77577d8142bb45caeba9803ae21addbae2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-20T13:03:25Z","title_canon_sha256":"92342d8a0afa4aede5546284f50d8d5a861c2d394abf9d70f9d52a22fa0f094a"},"schema_version":"1.0","source":{"id":"2301.08545","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2301.08545","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"arxiv_version","alias_value":"2301.08545v4","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2301.08545","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_12","alias_value":"JUNHNWGPTIP6","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_16","alias_value":"JUNHNWGPTIP6SIFJ","created_at":"2026-07-05T06:00:15Z"},{"alias_kind":"pith_short_8","alias_value":"JUNHNWGP","created_at":"2026-07-05T06:00:15Z"}],"graph_snapshots":[{"event_id":"sha256:5b31eb50a4856517324f6f366f7799c7169db0a4900378442efbd077640b8d29","target":"graph","created_at":"2026-07-05T06:00:15Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2301.08545/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit ","authors_text":"Antonio Franchi, Sihao Sun","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-20T13:03:25Z","title":"Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2301.08545","kind":"arxiv","version":4},"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:cf61d38c45c0f9730a573787669a1baf6de762140f3c3fad2ddc70f28e8169b9","target":"record","created_at":"2026-07-05T06:00:15Z","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":"816417e37fa021f534beb46920a4ea77577d8142bb45caeba9803ae21addbae2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-01-20T13:03:25Z","title_canon_sha256":"92342d8a0afa4aede5546284f50d8d5a861c2d394abf9d70f9d52a22fa0f094a"},"schema_version":"1.0","source":{"id":"2301.08545","kind":"arxiv","version":4}},"canonical_sha256":"4d1a76d8cf9a1fe920a95e5398d9b4faee154867c88f939f4b062943c8dbb2eb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4d1a76d8cf9a1fe920a95e5398d9b4faee154867c88f939f4b062943c8dbb2eb","first_computed_at":"2026-07-05T06:00:15.867235Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:00:15.867235Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IdUEt2XZP+q18kJeiS6cN6hdBkfVNpIPTLEzgfnu/vxsttDZyIxLzg1yxg7tqX71DKZIT1AWVaioP9raI0bVCg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:00:15.867723Z","signed_message":"canonical_sha256_bytes"},"source_id":"2301.08545","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cf61d38c45c0f9730a573787669a1baf6de762140f3c3fad2ddc70f28e8169b9","sha256:5b31eb50a4856517324f6f366f7799c7169db0a4900378442efbd077640b8d29"],"state_sha256":"31fc221f34a4ae1f5d4b21acb59034eec66bc78c4b0d485822446e89d88d41f5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OMPgtd7NHpi3AKA/Zt4BeRXkoMPYAzKR3OKZSP0+HLsx3CYQQJqxNhDTVdy0wiTTTwzHPjdRuqgAu+u/8B4xBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T07:10:55.574512Z","bundle_sha256":"70cc7a3322a359755bec73fb09d1b79e90fc89c56d72866bbef093a1748e891c"}}