{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:SCMTNPEZIPNYSPIT4WQ4VSM2TO","short_pith_number":"pith:SCMTNPEZ","canonical_record":{"source":{"id":"2605.15999","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T14:31:09Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"409fe9c5d15d867978f75cb21538c47d6e3d0feaddf68cf849b2434be39b4bbc","abstract_canon_sha256":"27b5e82bd8cc4fb62e03b9a7c626441f61d21610260ed44cede7f6373c56ad7f"},"schema_version":"1.0"},"canonical_sha256":"909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f","source":{"kind":"arxiv","id":"2605.15999","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.15999","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"arxiv_version","alias_value":"2605.15999v1","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.15999","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_12","alias_value":"SCMTNPEZIPNY","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_16","alias_value":"SCMTNPEZIPNYSPIT","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_8","alias_value":"SCMTNPEZ","created_at":"2026-05-20T00:01:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:SCMTNPEZIPNYSPIT4WQ4VSM2TO","target":"record","payload":{"canonical_record":{"source":{"id":"2605.15999","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T14:31:09Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"409fe9c5d15d867978f75cb21538c47d6e3d0feaddf68cf849b2434be39b4bbc","abstract_canon_sha256":"27b5e82bd8cc4fb62e03b9a7c626441f61d21610260ed44cede7f6373c56ad7f"},"schema_version":"1.0"},"canonical_sha256":"909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:01:48.341305Z","signature_b64":"k7I32jNnFTkMMEROkGBIi6u10WXntuel6DAzBBZEze4okUCRaTwdmWo/L48NMnMHEP8p7riecwzWMvFtu7QDAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f","last_reissued_at":"2026-05-20T00:01:48.340816Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:01:48.340816Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.15999","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":"2026-05-20T00:01:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BXGYIKW8WqOPjB9ovbQe3FwSnVl5WKCtFOIge52lTsQq+cVMkSEf5eGSpAT4CVdZkqqEbIxrZ+Rj7JRA+M2UCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-24T17:10:37.512815Z"},"content_sha256":"b9290664f0a0588b44e55023d612e085c889f0c350375d08ad91526c4fa9cea7","schema_version":"1.0","event_id":"sha256:b9290664f0a0588b44e55023d612e085c889f0c350375d08ad91526c4fa9cea7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:SCMTNPEZIPNYSPIT4WQ4VSM2TO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Harsh Modi, Minghui Zheng, Xiao Liang","submitted_at":"2026-05-15T14:31:09Z","abstract_excerpt":"This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle avoidance cost function for nonlinear model predictive control (MPC) that enables navigation through extremely narrow gaps under limited perception from a 2D LiDAR. Classical artificial potential field-based costs typically have a high cost in narrow passages, artificially blocking the navigable path. In contrast, we propose a smooth exponential obstacle cost that preserves low traversal cost within narrow gaps while m"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15999","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/2605.15999/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:42.175712Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.659915Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"1437381dd57624c2a34d3d97260c27712c287e19ae385f98c1e186485d17ad30"},"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":"2026-05-20T00:01:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rsBtKIVJxGxZV9K0f4hmjRjw8KpbeHh7qcuAgGqFzdaeWhTylr9fYazR8T9n/U36uEGIbaUC8bncyQC1AsslAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-24T17:10:37.513590Z"},"content_sha256":"6c28edae6cc933add8690750584475be801f7748603825bec0e659c0ecc19365","schema_version":"1.0","event_id":"sha256:6c28edae6cc933add8690750584475be801f7748603825bec0e659c0ecc19365"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/bundle.json","state_url":"https://pith.science/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/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":"2026-05-24T17:10:37Z","links":{"resolver":"https://pith.science/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO","bundle":"https://pith.science/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/bundle.json","state":"https://pith.science/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SCMTNPEZIPNYSPIT4WQ4VSM2TO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:SCMTNPEZIPNYSPIT4WQ4VSM2TO","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":"27b5e82bd8cc4fb62e03b9a7c626441f61d21610260ed44cede7f6373c56ad7f","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T14:31:09Z","title_canon_sha256":"409fe9c5d15d867978f75cb21538c47d6e3d0feaddf68cf849b2434be39b4bbc"},"schema_version":"1.0","source":{"id":"2605.15999","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.15999","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"arxiv_version","alias_value":"2605.15999v1","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.15999","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_12","alias_value":"SCMTNPEZIPNY","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_16","alias_value":"SCMTNPEZIPNYSPIT","created_at":"2026-05-20T00:01:48Z"},{"alias_kind":"pith_short_8","alias_value":"SCMTNPEZ","created_at":"2026-05-20T00:01:48Z"}],"graph_snapshots":[{"event_id":"sha256:6c28edae6cc933add8690750584475be801f7748603825bec0e659c0ecc19365","target":"graph","created_at":"2026-05-20T00:01:48Z","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":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:42.175712Z","status":"skipped","version":"1.0.0"},{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.659915Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.15999/integrity.json","findings":[],"snapshot_sha256":"1437381dd57624c2a34d3d97260c27712c287e19ae385f98c1e186485d17ad30","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle avoidance cost function for nonlinear model predictive control (MPC) that enables navigation through extremely narrow gaps under limited perception from a 2D LiDAR. Classical artificial potential field-based costs typically have a high cost in narrow passages, artificially blocking the navigable path. In contrast, we propose a smooth exponential obstacle cost that preserves low traversal cost within narrow gaps while m","authors_text":"Harsh Modi, Minghui Zheng, Xiao Liang","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T14:31:09Z","title":"Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15999","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:b9290664f0a0588b44e55023d612e085c889f0c350375d08ad91526c4fa9cea7","target":"record","created_at":"2026-05-20T00:01:48Z","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":"27b5e82bd8cc4fb62e03b9a7c626441f61d21610260ed44cede7f6373c56ad7f","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T14:31:09Z","title_canon_sha256":"409fe9c5d15d867978f75cb21538c47d6e3d0feaddf68cf849b2434be39b4bbc"},"schema_version":"1.0","source":{"id":"2605.15999","kind":"arxiv","version":1}},"canonical_sha256":"909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f","first_computed_at":"2026-05-20T00:01:48.340816Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:01:48.340816Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"k7I32jNnFTkMMEROkGBIi6u10WXntuel6DAzBBZEze4okUCRaTwdmWo/L48NMnMHEP8p7riecwzWMvFtu7QDAQ==","signature_status":"signed_v1","signed_at":"2026-05-20T00:01:48.341305Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.15999","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b9290664f0a0588b44e55023d612e085c889f0c350375d08ad91526c4fa9cea7","sha256:6c28edae6cc933add8690750584475be801f7748603825bec0e659c0ecc19365"],"state_sha256":"54c87552dff585a7081126aa79878fd93340afdb9d0ce7d13ea051a6e6550616"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EEnSpwOsdAmKTU/3ZcoPR5gLh9tSDi4YSx07dsHIQSOrNDQa2n+4PmQAHA7sSvR4wJTzHw8a0fm+gjtj7DzcCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-24T17:10:37.517225Z","bundle_sha256":"a6e9fba975ea2fad0bbf9d0d1fe9a137b663ff37b28f0f71815b520d9361536a"}}