{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:LNNB3A3KEEIMCGEWOKH3QBIJBJ","short_pith_number":"pith:LNNB3A3K","canonical_record":{"source":{"id":"1501.04910","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T18:35:14Z","cross_cats_sorted":[],"title_canon_sha256":"a2b8aa803909c1e9fba05763571208a5855fe3eab8c74b3a5c02c706509e6781","abstract_canon_sha256":"574e6f0dd1f857a84fc283e92fcd1e51a59822a195240de410be83ffbbcdca74"},"schema_version":"1.0"},"canonical_sha256":"5b5a1d836a2110c11896728fb805090a760516f8252ea6b70eafd2c2da466094","source":{"kind":"arxiv","id":"1501.04910","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1501.04910","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"arxiv_version","alias_value":"1501.04910v1","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1501.04910","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"pith_short_12","alias_value":"LNNB3A3KEEIM","created_at":"2026-05-18T12:29:29Z"},{"alias_kind":"pith_short_16","alias_value":"LNNB3A3KEEIMCGEW","created_at":"2026-05-18T12:29:29Z"},{"alias_kind":"pith_short_8","alias_value":"LNNB3A3K","created_at":"2026-05-18T12:29:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:LNNB3A3KEEIMCGEWOKH3QBIJBJ","target":"record","payload":{"canonical_record":{"source":{"id":"1501.04910","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T18:35:14Z","cross_cats_sorted":[],"title_canon_sha256":"a2b8aa803909c1e9fba05763571208a5855fe3eab8c74b3a5c02c706509e6781","abstract_canon_sha256":"574e6f0dd1f857a84fc283e92fcd1e51a59822a195240de410be83ffbbcdca74"},"schema_version":"1.0"},"canonical_sha256":"5b5a1d836a2110c11896728fb805090a760516f8252ea6b70eafd2c2da466094","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:29:02.010196Z","signature_b64":"B/8OfIPyFZMOpchu9OgTb2s7xMlecLNx1BsZ6tl/JAg/56HahrfCbnHN/nRyDROkKACtE1tds3wPubTkgkRxCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5b5a1d836a2110c11896728fb805090a760516f8252ea6b70eafd2c2da466094","last_reissued_at":"2026-05-18T02:29:02.009717Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:29:02.009717Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1501.04910","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":"2026-05-18T02:29:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j5/Qksz2mRQcXU3+qH/284Ub1DYdulolDj5wuQhETVv4EUrLvaF1tjmig5Wx7/WtV4HFrohlWydDqaUsftoVCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T14:34:58.052677Z"},"content_sha256":"071ba76d55b8872f506fd498f92b9ce75fb247976c81c81425149d8df2e46f33","schema_version":"1.0","event_id":"sha256:071ba76d55b8872f506fd498f92b9ce75fb247976c81c81425149d8df2e46f33"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:LNNB3A3KEEIMCGEWOKH3QBIJBJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamics and Control of Quadrotor UAVs Transporting a Rigid Body Connected via Flexible Cables","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":"2015-01-20T18:35:14Z","abstract_excerpt":"This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for arbitrary numbers of quadrotors and links according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid body to a fixed desired position while aligning all of the links along the vertical dir"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.04910","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":"2026-05-18T02:29:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CnEgNoOlTpgpBAhL5D3tmgt4rSpAcOykVpN0MNQ1XDDGXNy6ukdD9+CPL0SmsQkU2V9AlLsG5DJSDlWGiUAjCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T14:34:58.053027Z"},"content_sha256":"8c2e90671869e04bd528dbe9b659e8908b76ef8efa50c1da1bd256d26e1f67f2","schema_version":"1.0","event_id":"sha256:8c2e90671869e04bd528dbe9b659e8908b76ef8efa50c1da1bd256d26e1f67f2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/bundle.json","state_url":"https://pith.science/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/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":"2026-05-28T14:34:58Z","links":{"resolver":"https://pith.science/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ","bundle":"https://pith.science/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/bundle.json","state":"https://pith.science/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LNNB3A3KEEIMCGEWOKH3QBIJBJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:LNNB3A3KEEIMCGEWOKH3QBIJBJ","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":"574e6f0dd1f857a84fc283e92fcd1e51a59822a195240de410be83ffbbcdca74","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T18:35:14Z","title_canon_sha256":"a2b8aa803909c1e9fba05763571208a5855fe3eab8c74b3a5c02c706509e6781"},"schema_version":"1.0","source":{"id":"1501.04910","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1501.04910","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"arxiv_version","alias_value":"1501.04910v1","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1501.04910","created_at":"2026-05-18T02:29:02Z"},{"alias_kind":"pith_short_12","alias_value":"LNNB3A3KEEIM","created_at":"2026-05-18T12:29:29Z"},{"alias_kind":"pith_short_16","alias_value":"LNNB3A3KEEIMCGEW","created_at":"2026-05-18T12:29:29Z"},{"alias_kind":"pith_short_8","alias_value":"LNNB3A3K","created_at":"2026-05-18T12:29:29Z"}],"graph_snapshots":[{"event_id":"sha256:8c2e90671869e04bd528dbe9b659e8908b76ef8efa50c1da1bd256d26e1f67f2","target":"graph","created_at":"2026-05-18T02:29:02Z","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":"This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for arbitrary numbers of quadrotors and links according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid body to a fixed desired position while aligning all of the links along the vertical dir","authors_text":"Farhad A. Goodarzi, Taeyoung Lee","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T18:35:14Z","title":"Dynamics and Control of Quadrotor UAVs Transporting a Rigid Body Connected via Flexible Cables"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.04910","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":"sha256:071ba76d55b8872f506fd498f92b9ce75fb247976c81c81425149d8df2e46f33","target":"record","created_at":"2026-05-18T02:29:02Z","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":"574e6f0dd1f857a84fc283e92fcd1e51a59822a195240de410be83ffbbcdca74","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2015-01-20T18:35:14Z","title_canon_sha256":"a2b8aa803909c1e9fba05763571208a5855fe3eab8c74b3a5c02c706509e6781"},"schema_version":"1.0","source":{"id":"1501.04910","kind":"arxiv","version":1}},"canonical_sha256":"5b5a1d836a2110c11896728fb805090a760516f8252ea6b70eafd2c2da466094","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5b5a1d836a2110c11896728fb805090a760516f8252ea6b70eafd2c2da466094","first_computed_at":"2026-05-18T02:29:02.009717Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:29:02.009717Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"B/8OfIPyFZMOpchu9OgTb2s7xMlecLNx1BsZ6tl/JAg/56HahrfCbnHN/nRyDROkKACtE1tds3wPubTkgkRxCA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:29:02.010196Z","signed_message":"canonical_sha256_bytes"},"source_id":"1501.04910","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:071ba76d55b8872f506fd498f92b9ce75fb247976c81c81425149d8df2e46f33","sha256:8c2e90671869e04bd528dbe9b659e8908b76ef8efa50c1da1bd256d26e1f67f2"],"state_sha256":"e13121533db17dfbc39c73a2557a53c59b7dab74022fa9c6a2a87d7019ab95f9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eqKNDp7m3HKmBHID/IknYQkrjjI2lIpabwE6sx8ddVBuGwBfB3vn6rLPZTUQ/JKBG5+FIKJilrIcr371oXn0BQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T14:34:58.055027Z","bundle_sha256":"f96366b9cd27326d380f8149b9966011bb97af07737c39c965d9654d0ab1b801"}}