{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:OEIIIJ7TKJCTPLWBIO32QLNA5N","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":"464d8ac8770d125b46731531264385eebdc3db81f96575694fa4bb648ce63a2e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-18T02:16:43Z","title_canon_sha256":"d865ad52e493eec50e8635d17a8d75c1e3ee19667be3cf360b10eb6f325403fa"},"schema_version":"1.0","source":{"id":"1903.07230","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.07230","created_at":"2026-07-05T00:21:55Z"},{"alias_kind":"arxiv_version","alias_value":"1903.07230v1","created_at":"2026-07-05T00:21:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.07230","created_at":"2026-07-05T00:21:55Z"},{"alias_kind":"pith_short_12","alias_value":"OEIIIJ7TKJCT","created_at":"2026-07-05T00:21:55Z"},{"alias_kind":"pith_short_16","alias_value":"OEIIIJ7TKJCTPLWB","created_at":"2026-07-05T00:21:55Z"},{"alias_kind":"pith_short_8","alias_value":"OEIIIJ7T","created_at":"2026-07-05T00:21:55Z"}],"graph_snapshots":[{"event_id":"sha256:76dd2adc9a947515a96f1a64389643c87095f292b96735fb0731c6cc2a13068d","target":"graph","created_at":"2026-07-05T00:21:55Z","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/1903.07230/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic capture of such a non-cooperative Target, due to lack of navigational aids, only a relative pose estimate may be obtained from slow-sampled and noisy exteroceptive sensors. The velocity, however, cannot be measured directly. To address this problem, we develop a model-based observer which acts as an internal model for Target kinematics/dynamics and therefore,","authors_text":"Alessandro Massimo Giordano, Christian Ott, Hrishik Mishra, Marco De Stefano","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-18T02:16:43Z","title":"A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.07230","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":"sha256:3291ad9bdf2e0e5991a48a554307898e333d384798ffb74014d95110e52aa5bd","target":"record","created_at":"2026-07-05T00:21:55Z","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":"464d8ac8770d125b46731531264385eebdc3db81f96575694fa4bb648ce63a2e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-18T02:16:43Z","title_canon_sha256":"d865ad52e493eec50e8635d17a8d75c1e3ee19667be3cf360b10eb6f325403fa"},"schema_version":"1.0","source":{"id":"1903.07230","kind":"arxiv","version":1}},"canonical_sha256":"71108427f3524537aec143b7a82da0eb40c4397e2e78b16544102fce18ec9ad2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"71108427f3524537aec143b7a82da0eb40c4397e2e78b16544102fce18ec9ad2","first_computed_at":"2026-07-05T00:21:55.615720Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:21:55.615720Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6Cd6uhfCpLme4H4FTfsA4Yah/e7TuQLTi3WvddrMp37hvle/fhy0LU6xsvdm2xDqI/1kwr3PPUlx6M/F4Q/ACQ==","signature_status":"signed_v1","signed_at":"2026-07-05T00:21:55.616228Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.07230","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3291ad9bdf2e0e5991a48a554307898e333d384798ffb74014d95110e52aa5bd","sha256:76dd2adc9a947515a96f1a64389643c87095f292b96735fb0731c6cc2a13068d"],"state_sha256":"1ceadc9f0f58f8118f76a9fe16ffff53ff2f4537cd3f5949f0a1156e3f192cf1"}