{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:NA3BCVUHLS5GSQZRECOCBDHNQ3","short_pith_number":"pith:NA3BCVUH","schema_version":"1.0","canonical_sha256":"68361156875cba694331209c208ced86cd5ab8e24d7b46a34cf82bd3cf76955d","source":{"kind":"arxiv","id":"2107.08834","version":1},"attestation_state":"computed","paper":{"title":"A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.MA"],"primary_cat":"cs.RO","authors_text":"Conrad Sanderson, Felipe Gonzalez, Fernando Vanegas, Xiaolong Zhu","submitted_at":"2021-07-19T12:54:04Z","abstract_excerpt":"The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of multiple UAVs are used. We propose a framework for a team of UAVs to cooperatively explore and find a target in complex GPS-denied environments with obstacles. The team of UAVs autonomously navigates, explores, detects, and finds the target in a cluttered environment with a known map. Examples of such environments include indoor scenarios, urban or natural canyons"},"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":"2107.08834","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-19T12:54:04Z","cross_cats_sorted":["cs.LG","cs.MA"],"title_canon_sha256":"440807d4c030c76da94ff4e9afc714968bb288f177c9bee529b70469f78ccd44","abstract_canon_sha256":"9c107f7961a8b1d35fab54b92c159d9ba1deb2fa119c39464568aacfbc2bad8d"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:05:03.347875Z","signature_b64":"6reUpO+7s26nKBt9fWJWK/h0GbGtOM6tGAXk+IKoaJrj5W/Yc3eCZESPbS33YkEFyrfW7oQPeKZ3fPZOIsEwCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"68361156875cba694331209c208ced86cd5ab8e24d7b46a34cf82bd3cf76955d","last_reissued_at":"2026-07-05T03:05:03.347349Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:05:03.347349Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.MA"],"primary_cat":"cs.RO","authors_text":"Conrad Sanderson, Felipe Gonzalez, Fernando Vanegas, Xiaolong Zhu","submitted_at":"2021-07-19T12:54:04Z","abstract_excerpt":"The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for search and rescue as well as remote sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of multiple UAVs are used. We propose a framework for a team of UAVs to cooperatively explore and find a target in complex GPS-denied environments with obstacles. The team of UAVs autonomously navigates, explores, detects, and finds the target in a cluttered environment with a known map. Examples of such environments include indoor scenarios, urban or natural canyons"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.08834","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/2107.08834/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":"2107.08834","created_at":"2026-07-05T03:05:03.347421+00:00"},{"alias_kind":"arxiv_version","alias_value":"2107.08834v1","created_at":"2026-07-05T03:05:03.347421+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.08834","created_at":"2026-07-05T03:05:03.347421+00:00"},{"alias_kind":"pith_short_12","alias_value":"NA3BCVUHLS5G","created_at":"2026-07-05T03:05:03.347421+00:00"},{"alias_kind":"pith_short_16","alias_value":"NA3BCVUHLS5GSQZR","created_at":"2026-07-05T03:05:03.347421+00:00"},{"alias_kind":"pith_short_8","alias_value":"NA3BCVUH","created_at":"2026-07-05T03:05:03.347421+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/NA3BCVUHLS5GSQZRECOCBDHNQ3","json":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3.json","graph_json":"https://pith.science/api/pith-number/NA3BCVUHLS5GSQZRECOCBDHNQ3/graph.json","events_json":"https://pith.science/api/pith-number/NA3BCVUHLS5GSQZRECOCBDHNQ3/events.json","paper":"https://pith.science/paper/NA3BCVUH"},"agent_actions":{"view_html":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3","download_json":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3.json","view_paper":"https://pith.science/paper/NA3BCVUH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2107.08834&json=true","fetch_graph":"https://pith.science/api/pith-number/NA3BCVUHLS5GSQZRECOCBDHNQ3/graph.json","fetch_events":"https://pith.science/api/pith-number/NA3BCVUHLS5GSQZRECOCBDHNQ3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3/action/storage_attestation","attest_author":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3/action/author_attestation","sign_citation":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3/action/citation_signature","submit_replication":"https://pith.science/pith/NA3BCVUHLS5GSQZRECOCBDHNQ3/action/replication_record"}},"created_at":"2026-07-05T03:05:03.347421+00:00","updated_at":"2026-07-05T03:05:03.347421+00:00"}