{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:SHC4XGASB32QEDXYSRE6UIYTT2","short_pith_number":"pith:SHC4XGAS","canonical_record":{"source":{"id":"1512.01195","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-12-03T19:12:13Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"99f9a55d7ddab6abb50245cc3f1969bdbbd782282c5588a48d7de17feeb7ec51","abstract_canon_sha256":"fd56f96aa03008b42b576f0c90a7bf6d662e213c9b90d2832284e5b8fadf1c6f"},"schema_version":"1.0"},"canonical_sha256":"91c5cb98120ef5020ef89449ea23139e896fbe51fde5d7d42a2aa388515b6084","source":{"kind":"arxiv","id":"1512.01195","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1512.01195","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"arxiv_version","alias_value":"1512.01195v2","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1512.01195","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"pith_short_12","alias_value":"SHC4XGASB32Q","created_at":"2026-05-18T12:29:42Z"},{"alias_kind":"pith_short_16","alias_value":"SHC4XGASB32QEDXY","created_at":"2026-05-18T12:29:42Z"},{"alias_kind":"pith_short_8","alias_value":"SHC4XGAS","created_at":"2026-05-18T12:29:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:SHC4XGASB32QEDXYSRE6UIYTT2","target":"record","payload":{"canonical_record":{"source":{"id":"1512.01195","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-12-03T19:12:13Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"99f9a55d7ddab6abb50245cc3f1969bdbbd782282c5588a48d7de17feeb7ec51","abstract_canon_sha256":"fd56f96aa03008b42b576f0c90a7bf6d662e213c9b90d2832284e5b8fadf1c6f"},"schema_version":"1.0"},"canonical_sha256":"91c5cb98120ef5020ef89449ea23139e896fbe51fde5d7d42a2aa388515b6084","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:03:59.800353Z","signature_b64":"RhcVVHr7RTFSIm0Z3CUeJgb8dMyoP6oiIcvi+xpNBGRRanp5EjomvDnRBGpdt/D0AH7BgltvoF0uTqQlum+sAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"91c5cb98120ef5020ef89449ea23139e896fbe51fde5d7d42a2aa388515b6084","last_reissued_at":"2026-05-18T01:03:59.799672Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:03:59.799672Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1512.01195","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:03:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kqv/4tP6Qff2EZBRDDq61iS6rO6L035ppHnd8mGBQdkVY4mz55oBmraUQvGdzPz3JpQk8wGKmoB17mV1WdiTAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T06:20:35.685161Z"},"content_sha256":"ab731ebab4dd69b106d1f723f2ba6c8fa1e0a1bc1071653eff0248db57bf3812","schema_version":"1.0","event_id":"sha256:ab731ebab4dd69b106d1f723f2ba6c8fa1e0a1bc1071653eff0248db57bf3812"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:SHC4XGASB32QEDXYSRE6UIYTT2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reachable Set Approach to Collision Avoidance for UAVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"John S. Baras, Yuchen Zhou","submitted_at":"2015-12-03T19:12:13Z","abstract_excerpt":"In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and disaster search and rescue operations. It is essential for the aircraft to have on-board collision avoidance capability to guarantee safety. Instead of the traditional approach of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1512.01195","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":""},"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":"2026-05-18T01:03:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2WpKvu3GA+gUz20igAPlnVfcE9HosWvsn1to49ss1w6Oqyew/yPaaeLsCUgsewZ7gHDvOheKbiPMJE+LXcyTDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T06:20:35.685548Z"},"content_sha256":"3a217a160581f54d38a705a3607cffa01ce008bc1050890b4edf06f070fe50e2","schema_version":"1.0","event_id":"sha256:3a217a160581f54d38a705a3607cffa01ce008bc1050890b4edf06f070fe50e2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SHC4XGASB32QEDXYSRE6UIYTT2/bundle.json","state_url":"https://pith.science/pith/SHC4XGASB32QEDXYSRE6UIYTT2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SHC4XGASB32QEDXYSRE6UIYTT2/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":"2026-06-01T06:20:35Z","links":{"resolver":"https://pith.science/pith/SHC4XGASB32QEDXYSRE6UIYTT2","bundle":"https://pith.science/pith/SHC4XGASB32QEDXYSRE6UIYTT2/bundle.json","state":"https://pith.science/pith/SHC4XGASB32QEDXYSRE6UIYTT2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SHC4XGASB32QEDXYSRE6UIYTT2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:SHC4XGASB32QEDXYSRE6UIYTT2","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":"fd56f96aa03008b42b576f0c90a7bf6d662e213c9b90d2832284e5b8fadf1c6f","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-12-03T19:12:13Z","title_canon_sha256":"99f9a55d7ddab6abb50245cc3f1969bdbbd782282c5588a48d7de17feeb7ec51"},"schema_version":"1.0","source":{"id":"1512.01195","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1512.01195","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"arxiv_version","alias_value":"1512.01195v2","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1512.01195","created_at":"2026-05-18T01:03:59Z"},{"alias_kind":"pith_short_12","alias_value":"SHC4XGASB32Q","created_at":"2026-05-18T12:29:42Z"},{"alias_kind":"pith_short_16","alias_value":"SHC4XGASB32QEDXY","created_at":"2026-05-18T12:29:42Z"},{"alias_kind":"pith_short_8","alias_value":"SHC4XGAS","created_at":"2026-05-18T12:29:42Z"}],"graph_snapshots":[{"event_id":"sha256:3a217a160581f54d38a705a3607cffa01ce008bc1050890b4edf06f070fe50e2","target":"graph","created_at":"2026-05-18T01:03:59Z","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":"In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and disaster search and rescue operations. It is essential for the aircraft to have on-board collision avoidance capability to guarantee safety. Instead of the traditional approach of collision avoidance between trajectories, we propose a collision avoidance scheme based on reachable sets and tubes. We then formulate the problem as a convex optimization problem se","authors_text":"John S. Baras, Yuchen Zhou","cross_cats":["cs.RO","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-12-03T19:12:13Z","title":"Reachable Set Approach to Collision Avoidance for UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1512.01195","kind":"arxiv","version":2},"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:ab731ebab4dd69b106d1f723f2ba6c8fa1e0a1bc1071653eff0248db57bf3812","target":"record","created_at":"2026-05-18T01:03:59Z","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":"fd56f96aa03008b42b576f0c90a7bf6d662e213c9b90d2832284e5b8fadf1c6f","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-12-03T19:12:13Z","title_canon_sha256":"99f9a55d7ddab6abb50245cc3f1969bdbbd782282c5588a48d7de17feeb7ec51"},"schema_version":"1.0","source":{"id":"1512.01195","kind":"arxiv","version":2}},"canonical_sha256":"91c5cb98120ef5020ef89449ea23139e896fbe51fde5d7d42a2aa388515b6084","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"91c5cb98120ef5020ef89449ea23139e896fbe51fde5d7d42a2aa388515b6084","first_computed_at":"2026-05-18T01:03:59.799672Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:03:59.799672Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"RhcVVHr7RTFSIm0Z3CUeJgb8dMyoP6oiIcvi+xpNBGRRanp5EjomvDnRBGpdt/D0AH7BgltvoF0uTqQlum+sAg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:03:59.800353Z","signed_message":"canonical_sha256_bytes"},"source_id":"1512.01195","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ab731ebab4dd69b106d1f723f2ba6c8fa1e0a1bc1071653eff0248db57bf3812","sha256:3a217a160581f54d38a705a3607cffa01ce008bc1050890b4edf06f070fe50e2"],"state_sha256":"7bd07ff3912e6274a657721d579768be714dd5ad96f95e222ea1feedbb7278ec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ve4G6HrS39KXhy3lnCadJSrx4dr7Afq8vpYH2CDKGy0qfE/aBV2kwvWifUMDVf2U+TwEHlqt+XsAXicpiy2/CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T06:20:35.687762Z","bundle_sha256":"c6e00b647e1ddc84ed1897c4c87e3f3052089400fa808f9616174b6ef76d1d5e"}}