{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:M44YEJPCHB6RIIJPDWH2TSOK2A","short_pith_number":"pith:M44YEJPC","schema_version":"1.0","canonical_sha256":"67398225e2387d14212f1d8fa9c9cad01c80876f117d5869b4ceb56e6666e08b","source":{"kind":"arxiv","id":"2003.01245","version":2},"attestation_state":"computed","paper":{"title":"Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Junseok Lee, Mark W. Mueller, Nathan Bucki","submitted_at":"2020-03-02T23:24:47Z","abstract_excerpt":"We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this work is a new pyramid-based spatial partitioning method that enables rapid collision detection between candidate trajectories and the environment. By leveraging the efficiency of our collision checking method, we shown how a local planning algorithm can be run at high rates on computationally constrained hardware, evaluating thousands of candidate trajectori"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2003.01245","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-02T23:24:47Z","cross_cats_sorted":[],"title_canon_sha256":"d107a064b41b78538dce9a8deb095659aa7156d776f825e1d73a39fcb01bdaee","abstract_canon_sha256":"65b901959f1e66299267402b28fe6a90c88896be06f512b3e4a3dec03a5fc36b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:31:09.845710Z","signature_b64":"K6vNoYEk9uns66FLbLGyo5bjCgmvFBxSa+tEz9SretcYoq/lxzQ1jM6QM6zGxD2MNq9/PQ9D0gRCjaUVOI2ZAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"67398225e2387d14212f1d8fa9c9cad01c80876f117d5869b4ceb56e6666e08b","last_reissued_at":"2026-07-05T01:31:09.844876Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:31:09.844876Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Junseok Lee, Mark W. Mueller, Nathan Bucki","submitted_at":"2020-03-02T23:24:47Z","abstract_excerpt":"We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth image from an onboard camera. The primary contribution of this work is a new pyramid-based spatial partitioning method that enables rapid collision detection between candidate trajectories and the environment. By leveraging the efficiency of our collision checking method, we shown how a local planning algorithm can be run at high rates on computationally constrained hardware, evaluating thousands of candidate trajectori"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.01245","kind":"arxiv","version":2},"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/2003.01245/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2003.01245","created_at":"2026-07-05T01:31:09.844937+00:00"},{"alias_kind":"arxiv_version","alias_value":"2003.01245v2","created_at":"2026-07-05T01:31:09.844937+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.01245","created_at":"2026-07-05T01:31:09.844937+00:00"},{"alias_kind":"pith_short_12","alias_value":"M44YEJPCHB6R","created_at":"2026-07-05T01:31:09.844937+00:00"},{"alias_kind":"pith_short_16","alias_value":"M44YEJPCHB6RIIJP","created_at":"2026-07-05T01:31:09.844937+00:00"},{"alias_kind":"pith_short_8","alias_value":"M44YEJPC","created_at":"2026-07-05T01:31:09.844937+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A","json":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A.json","graph_json":"https://pith.science/api/pith-number/M44YEJPCHB6RIIJPDWH2TSOK2A/graph.json","events_json":"https://pith.science/api/pith-number/M44YEJPCHB6RIIJPDWH2TSOK2A/events.json","paper":"https://pith.science/paper/M44YEJPC"},"agent_actions":{"view_html":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A","download_json":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A.json","view_paper":"https://pith.science/paper/M44YEJPC","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2003.01245&json=true","fetch_graph":"https://pith.science/api/pith-number/M44YEJPCHB6RIIJPDWH2TSOK2A/graph.json","fetch_events":"https://pith.science/api/pith-number/M44YEJPCHB6RIIJPDWH2TSOK2A/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A/action/timestamp_anchor","attest_storage":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A/action/storage_attestation","attest_author":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A/action/author_attestation","sign_citation":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A/action/citation_signature","submit_replication":"https://pith.science/pith/M44YEJPCHB6RIIJPDWH2TSOK2A/action/replication_record"}},"created_at":"2026-07-05T01:31:09.844937+00:00","updated_at":"2026-07-05T01:31:09.844937+00:00"}