{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:MUAVWXKUAPXNHUNHDQQMNODNQM","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":"e31705254af6ebdab7b88b1a965cdca1781889b64fbae3657641f87d633e9ee4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-10-07T20:57:13Z","title_canon_sha256":"916fcf000c9503998dd30822079457118deb29ef6611b0625b7a51112ec79882"},"schema_version":"1.0","source":{"id":"1710.02748","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1710.02748","created_at":"2026-05-18T00:33:28Z"},{"alias_kind":"arxiv_version","alias_value":"1710.02748v1","created_at":"2026-05-18T00:33:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1710.02748","created_at":"2026-05-18T00:33:28Z"},{"alias_kind":"pith_short_12","alias_value":"MUAVWXKUAPXN","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_16","alias_value":"MUAVWXKUAPXNHUNH","created_at":"2026-05-18T12:31:31Z"},{"alias_kind":"pith_short_8","alias_value":"MUAVWXKU","created_at":"2026-05-18T12:31:31Z"}],"graph_snapshots":[{"event_id":"sha256:18f3e28ff6ac2330be43ca631f832474ec7874c616446722cda41ae47a11950d","target":"graph","created_at":"2026-05-18T00:33:28Z","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":"Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor maneuverability to generate sequences of motion primitives in cluttered environments. We model the quadrotor body as an ellipsoid and compute its flight attitude along trajectories in order to check for collisions against obstacles. The ellipsoid model allows the quadrotor to pass through gaps that are smaller than its diameter with non-zero pitch or roll angles. Without ","authors_text":"Kartik Mohta, Nikolay Atanasov, Sikang Liu, Vijay Kumar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-10-07T20:57:13Z","title":"Search-based Motion Planning for Aggressive Flight in SE(3)"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1710.02748","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":"sha256:0c42f321b4765c8a46773c3ff4d9ddeb98d89135f7928a6e1f1ce168718da987","target":"record","created_at":"2026-05-18T00:33:28Z","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":"e31705254af6ebdab7b88b1a965cdca1781889b64fbae3657641f87d633e9ee4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-10-07T20:57:13Z","title_canon_sha256":"916fcf000c9503998dd30822079457118deb29ef6611b0625b7a51112ec79882"},"schema_version":"1.0","source":{"id":"1710.02748","kind":"arxiv","version":1}},"canonical_sha256":"65015b5d5403eed3d1a71c20c6b86d832d0e984f4e8b2d0ebd8caf93580d4e12","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"65015b5d5403eed3d1a71c20c6b86d832d0e984f4e8b2d0ebd8caf93580d4e12","first_computed_at":"2026-05-18T00:33:28.985236Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:33:28.985236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FP1xWJffXpilj5VSBEXIEDISTUIMIGwa1UZx12cFKYRni82d31C0dos4sEY5x49f8YfWP9V0+fbxXmEyl972Aw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:33:28.985761Z","signed_message":"canonical_sha256_bytes"},"source_id":"1710.02748","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0c42f321b4765c8a46773c3ff4d9ddeb98d89135f7928a6e1f1ce168718da987","sha256:18f3e28ff6ac2330be43ca631f832474ec7874c616446722cda41ae47a11950d"],"state_sha256":"e0b7ba221b1cdc3986ed55bf17145d01de8a2d7a8b741be1675554e8203dac6b"}