{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:KJBFAVOBD2WTR5CPUT5GNDKVSQ","short_pith_number":"pith:KJBFAVOB","canonical_record":{"source":{"id":"1907.08320","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-18T23:45:05Z","cross_cats_sorted":["cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"112af7ceda1a400b2c9cd26adde1ff4673b503b4f4587a531c3595a68c1883ab","abstract_canon_sha256":"c46f53ed4ede5bea60dfbbc5c2d46b1f5ef8bd1f4b987c19b94f9c3ef222ed86"},"schema_version":"1.0"},"canonical_sha256":"52425055c11ead38f44fa4fa668d559421db9cea61b36f6a2b5f6b436c4a09eb","source":{"kind":"arxiv","id":"1907.08320","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08320","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08320v1","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08320","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"pith_short_12","alias_value":"KJBFAVOBD2WT","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KJBFAVOBD2WTR5CP","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KJBFAVOB","created_at":"2026-05-18T12:33:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:KJBFAVOBD2WTR5CPUT5GNDKVSQ","target":"record","payload":{"canonical_record":{"source":{"id":"1907.08320","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-18T23:45:05Z","cross_cats_sorted":["cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"112af7ceda1a400b2c9cd26adde1ff4673b503b4f4587a531c3595a68c1883ab","abstract_canon_sha256":"c46f53ed4ede5bea60dfbbc5c2d46b1f5ef8bd1f4b987c19b94f9c3ef222ed86"},"schema_version":"1.0"},"canonical_sha256":"52425055c11ead38f44fa4fa668d559421db9cea61b36f6a2b5f6b436c4a09eb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:40:10.234801Z","signature_b64":"bSMXpf8lu6TY0/ft6BsQP+5RdKa2R5vgm2m1Fc7UoTy17eLOy/ekGMG3dPcJfoQncYxL5XnTorB+T0izh9EKAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52425055c11ead38f44fa4fa668d559421db9cea61b36f6a2b5f6b436c4a09eb","last_reissued_at":"2026-05-17T23:40:10.234195Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:40:10.234195Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1907.08320","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:40:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1PhlVSszV/Y8AuuCUFRSrIJtwVpG8iT01HhswnhT/ABTkNgH/MDIZWlP0CYaAE5IMWV0NQncM3l9HqfWJhP5CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:04:48.201302Z"},"content_sha256":"add8819ae130e3a70abee5c424e9775d5d2c264fa90e9ee48a9c8a76142027dd","schema_version":"1.0","event_id":"sha256:add8819ae130e3a70abee5c424e9775d5d2c264fa90e9ee48a9c8a76142027dd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:KJBFAVOBD2WTR5CPUT5GNDKVSQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-Task Regression-based Learning for Autonomous Unmanned Aerial Vehicle Flight Control within Unstructured Outdoor Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Amir Atapour-Abarghouei, Bruna G. Maciel-Pearson, Christopher Holder, Samet Akcay, Toby P. Breckon","submitted_at":"2019-07-18T23:45:05Z","abstract_excerpt":"Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide area search and surveillance operations in unstructured outdoor environments. The critical issue with such environments is the lack of structured features that could aid in autonomous flight, such as road lines or paths. In this paper, we propose an End-to-End Multi-Task Regression-based Learning approach capable of defining flight commands for navigation and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08320","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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:40:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hDwRIu/PF4EzT8cP+7DWzRGHxI2mJUhOWORUaqQ9W6V2bEuKfF9smL2JVYzCDo+39ZTZOhOTiAhM+0tGppV5Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T15:04:48.202050Z"},"content_sha256":"cded2be7d7bd0a6abc45048e76ff0d4754324e9383a86f326a8255888b8d89d7","schema_version":"1.0","event_id":"sha256:cded2be7d7bd0a6abc45048e76ff0d4754324e9383a86f326a8255888b8d89d7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/bundle.json","state_url":"https://pith.science/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/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":"2026-05-25T15:04:48Z","links":{"resolver":"https://pith.science/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ","bundle":"https://pith.science/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/bundle.json","state":"https://pith.science/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KJBFAVOBD2WTR5CPUT5GNDKVSQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:KJBFAVOBD2WTR5CPUT5GNDKVSQ","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":"c46f53ed4ede5bea60dfbbc5c2d46b1f5ef8bd1f4b987c19b94f9c3ef222ed86","cross_cats_sorted":["cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-18T23:45:05Z","title_canon_sha256":"112af7ceda1a400b2c9cd26adde1ff4673b503b4f4587a531c3595a68c1883ab"},"schema_version":"1.0","source":{"id":"1907.08320","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.08320","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"arxiv_version","alias_value":"1907.08320v1","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.08320","created_at":"2026-05-17T23:40:10Z"},{"alias_kind":"pith_short_12","alias_value":"KJBFAVOBD2WT","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_16","alias_value":"KJBFAVOBD2WTR5CP","created_at":"2026-05-18T12:33:21Z"},{"alias_kind":"pith_short_8","alias_value":"KJBFAVOB","created_at":"2026-05-18T12:33:21Z"}],"graph_snapshots":[{"event_id":"sha256:cded2be7d7bd0a6abc45048e76ff0d4754324e9383a86f326a8255888b8d89d7","target":"graph","created_at":"2026-05-17T23:40:10Z","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":"Increased growth in the global Unmanned Aerial Vehicles (UAV) (drone) industry has expanded possibilities for fully autonomous UAV applications. A particular application which has in part motivated this research is the use of UAV in wide area search and surveillance operations in unstructured outdoor environments. The critical issue with such environments is the lack of structured features that could aid in autonomous flight, such as road lines or paths. In this paper, we propose an End-to-End Multi-Task Regression-based Learning approach capable of defining flight commands for navigation and ","authors_text":"Amir Atapour-Abarghouei, Bruna G. Maciel-Pearson, Christopher Holder, Samet Akcay, Toby P. Breckon","cross_cats":["cs.CV","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-18T23:45:05Z","title":"Multi-Task Regression-based Learning for Autonomous Unmanned Aerial Vehicle Flight Control within Unstructured Outdoor Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.08320","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:add8819ae130e3a70abee5c424e9775d5d2c264fa90e9ee48a9c8a76142027dd","target":"record","created_at":"2026-05-17T23:40:10Z","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":"c46f53ed4ede5bea60dfbbc5c2d46b1f5ef8bd1f4b987c19b94f9c3ef222ed86","cross_cats_sorted":["cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-07-18T23:45:05Z","title_canon_sha256":"112af7ceda1a400b2c9cd26adde1ff4673b503b4f4587a531c3595a68c1883ab"},"schema_version":"1.0","source":{"id":"1907.08320","kind":"arxiv","version":1}},"canonical_sha256":"52425055c11ead38f44fa4fa668d559421db9cea61b36f6a2b5f6b436c4a09eb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52425055c11ead38f44fa4fa668d559421db9cea61b36f6a2b5f6b436c4a09eb","first_computed_at":"2026-05-17T23:40:10.234195Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:40:10.234195Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bSMXpf8lu6TY0/ft6BsQP+5RdKa2R5vgm2m1Fc7UoTy17eLOy/ekGMG3dPcJfoQncYxL5XnTorB+T0izh9EKAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:40:10.234801Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.08320","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:add8819ae130e3a70abee5c424e9775d5d2c264fa90e9ee48a9c8a76142027dd","sha256:cded2be7d7bd0a6abc45048e76ff0d4754324e9383a86f326a8255888b8d89d7"],"state_sha256":"ab01a971dbea4e93a72733dc9ea4a90611520888925bd5147940286458c554d9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H+2oLwcMELUfEYTDL/lO5i3sb8xyVLoYTXB2pQwKD/cXg8ItVeJp1g1UBRc2DXgcvpqqmZ5iljTFcMLc7rCPAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T15:04:48.206443Z","bundle_sha256":"89af80d22c68a93e3e565a9ba57734dd8b0ab56e2467bcc7d0336e10cad871b6"}}