{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:LHD65C7JIYYDV7XERYSMNY3OZQ","short_pith_number":"pith:LHD65C7J","canonical_record":{"source":{"id":"2302.04778","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T17:11:43Z","cross_cats_sorted":[],"title_canon_sha256":"c4c7699c574a49b8a6ef6a1e802861af2dbc71c50e2f596718fffb1fb598b4a1","abstract_canon_sha256":"625de42d8dfe32ab3131575d7ae1e2da4af0cdc61cd9d94ba49823317186fe3b"},"schema_version":"1.0"},"canonical_sha256":"59c7ee8be946303afee48e24c6e36ecc054d0714be650a8cc03887d5911b9ac3","source":{"kind":"arxiv","id":"2302.04778","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.04778","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"arxiv_version","alias_value":"2302.04778v1","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.04778","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_12","alias_value":"LHD65C7JIYYD","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_16","alias_value":"LHD65C7JIYYDV7XE","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_8","alias_value":"LHD65C7J","created_at":"2026-07-05T05:40:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:LHD65C7JIYYDV7XERYSMNY3OZQ","target":"record","payload":{"canonical_record":{"source":{"id":"2302.04778","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T17:11:43Z","cross_cats_sorted":[],"title_canon_sha256":"c4c7699c574a49b8a6ef6a1e802861af2dbc71c50e2f596718fffb1fb598b4a1","abstract_canon_sha256":"625de42d8dfe32ab3131575d7ae1e2da4af0cdc61cd9d94ba49823317186fe3b"},"schema_version":"1.0"},"canonical_sha256":"59c7ee8be946303afee48e24c6e36ecc054d0714be650a8cc03887d5911b9ac3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:40:18.429533Z","signature_b64":"z7wGqcYcPbVYu9xbBgwPedpgPJD/1T2h4b/KaKxcg1bJsn9FmubNpmRRnadd75JSCaCLoKh4Bo5Gcr6cAXH7CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"59c7ee8be946303afee48e24c6e36ecc054d0714be650a8cc03887d5911b9ac3","last_reissued_at":"2026-07-05T05:40:18.429110Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:40:18.429110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.04778","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":"2026-07-05T05:40:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TRBFfPR9H+z21x3HeWWOM6ik98vXYiKmrxGnGpH1ZMiPbMh4GrrlIhbZyQrlQ7aYYO7bjVf1coxVUORoHEhWCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:49:24.300223Z"},"content_sha256":"25d55f5a54568a03b8eeb09f2eda8bcc2d9c0ec9e3231b9f0035c29519fdaccb","schema_version":"1.0","event_id":"sha256:25d55f5a54568a03b8eeb09f2eda8bcc2d9c0ec9e3231b9f0035c29519fdaccb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:LHD65C7JIYYDV7XERYSMNY3OZQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel Bonilla Licea, Daniel Hert, David Zaitlik, Giuseppe Silano, Jiri Horyna, Martin Saska, Matej Petrlik, Matous Vrba, Pavel Petracek, Pavel Stoudek, Petr Stepan, Petr Stibinger, Robert Penicka, Tiago Nascimento, Tomas Baca, Vaclav Pritzl, Viktor Walter, Vit Kratky, Vojtech Spurny","submitted_at":"2023-02-09T17:11:43Z","abstract_excerpt":"This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.04778","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2302.04778/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":"2026-07-05T05:40:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g/NbfRVthyNYpJvwKLx+TBcflM1tQ0omc2bSg9padsDzt+8wUY/kf1kXFBEmSkOv6NP8Kjmp9HVJENJgZtV5Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T05:49:24.300745Z"},"content_sha256":"f573532055e3754ba74775802a51e75fe53c5934c9ebdf69b66fd8675e631bef","schema_version":"1.0","event_id":"sha256:f573532055e3754ba74775802a51e75fe53c5934c9ebdf69b66fd8675e631bef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/bundle.json","state_url":"https://pith.science/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/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":"2026-08-01T05:49:24Z","links":{"resolver":"https://pith.science/pith/LHD65C7JIYYDV7XERYSMNY3OZQ","bundle":"https://pith.science/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/bundle.json","state":"https://pith.science/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LHD65C7JIYYDV7XERYSMNY3OZQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:LHD65C7JIYYDV7XERYSMNY3OZQ","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":"625de42d8dfe32ab3131575d7ae1e2da4af0cdc61cd9d94ba49823317186fe3b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T17:11:43Z","title_canon_sha256":"c4c7699c574a49b8a6ef6a1e802861af2dbc71c50e2f596718fffb1fb598b4a1"},"schema_version":"1.0","source":{"id":"2302.04778","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.04778","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"arxiv_version","alias_value":"2302.04778v1","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.04778","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_12","alias_value":"LHD65C7JIYYD","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_16","alias_value":"LHD65C7JIYYDV7XE","created_at":"2026-07-05T05:40:18Z"},{"alias_kind":"pith_short_8","alias_value":"LHD65C7J","created_at":"2026-07-05T05:40:18Z"}],"graph_snapshots":[{"event_id":"sha256:f573532055e3754ba74775802a51e75fe53c5934c9ebdf69b66fd8675e631bef","target":"graph","created_at":"2026-07-05T05:40:18Z","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/2302.04778/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We p","authors_text":"Daniel Bonilla Licea, Daniel Hert, David Zaitlik, Giuseppe Silano, Jiri Horyna, Martin Saska, Matej Petrlik, Matous Vrba, Pavel Petracek, Pavel Stoudek, Petr Stepan, Petr Stibinger, Robert Penicka, Tiago Nascimento, Tomas Baca, Vaclav Pritzl, Viktor Walter, Vit Kratky, Vojtech Spurny","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T17:11:43Z","title":"MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.04778","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":"sha256:25d55f5a54568a03b8eeb09f2eda8bcc2d9c0ec9e3231b9f0035c29519fdaccb","target":"record","created_at":"2026-07-05T05:40:18Z","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":"625de42d8dfe32ab3131575d7ae1e2da4af0cdc61cd9d94ba49823317186fe3b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-09T17:11:43Z","title_canon_sha256":"c4c7699c574a49b8a6ef6a1e802861af2dbc71c50e2f596718fffb1fb598b4a1"},"schema_version":"1.0","source":{"id":"2302.04778","kind":"arxiv","version":1}},"canonical_sha256":"59c7ee8be946303afee48e24c6e36ecc054d0714be650a8cc03887d5911b9ac3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"59c7ee8be946303afee48e24c6e36ecc054d0714be650a8cc03887d5911b9ac3","first_computed_at":"2026-07-05T05:40:18.429110Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:40:18.429110Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"z7wGqcYcPbVYu9xbBgwPedpgPJD/1T2h4b/KaKxcg1bJsn9FmubNpmRRnadd75JSCaCLoKh4Bo5Gcr6cAXH7CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:40:18.429533Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.04778","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:25d55f5a54568a03b8eeb09f2eda8bcc2d9c0ec9e3231b9f0035c29519fdaccb","sha256:f573532055e3754ba74775802a51e75fe53c5934c9ebdf69b66fd8675e631bef"],"state_sha256":"47d13d692f1d2afcf18f6915e5cd36fc460672876659e1e4f886800b43821a10"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UHJ6u/LD1F4Y4DZINZKmLtIBlbHbsHCRnKXoM3OJ04/42XvYHhsQRfIp4IcHRnuMkbRkie3oWLaPbbxLc4j/Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T05:49:24.305999Z","bundle_sha256":"506fa63fafe9094b6e12348fdadbe6818f84870b665bcde6845656fbf1f85917"}}