{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:TX7D53R3JDYIG74CPGZIJLZ2TS","short_pith_number":"pith:TX7D53R3","schema_version":"1.0","canonical_sha256":"9dfe3eee3b48f0837f8279b284af3a9c82bb4c11a808d040a5094cf5d552db12","source":{"kind":"arxiv","id":"2504.17569","version":1},"attestation_state":"computed","paper":{"title":"Flying through cluttered and dynamic environments with LiDAR","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Fangcheng Zhu, Fu Zhang, Hairuo Wei, Haotian Li, Huajie Wu, Wenyi Liu, Yunfan Ren, Zheng Liu","submitted_at":"2025-04-24T13:59:06Z","abstract_excerpt":"Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based system designed to enable UAVs to avoid various moving obstacles in complex environments. Benefiting the high computational efficiency of perception and planning, the system can operate in real time using onboard computing resources with low latency. For dynamic environment perception, we have integrated our previous work, M-detector, into the system. M-detect"},"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":"2504.17569","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-24T13:59:06Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"bdc8c5f01e378497a1c49c41df1a4b5b4e9a5d9289a303c99bb79474dd5b6e38","abstract_canon_sha256":"9fa48ca933b04640c60215ac8ca637770243ca4b97860e1fdb617a6191fad751"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:53:31.336942Z","signature_b64":"GYRG+Znc0hRp9NdP/Yw8TCy5okWi5fVylSX5su00mCrTprfrBZbRjBs4C8evo2mbSlEE+KT1e+WH1ufyfm8NDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9dfe3eee3b48f0837f8279b284af3a9c82bb4c11a808d040a5094cf5d552db12","last_reissued_at":"2026-07-05T10:53:31.336425Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:53:31.336425Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Flying through cluttered and dynamic environments with LiDAR","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Fangcheng Zhu, Fu Zhang, Hairuo Wei, Haotian Li, Huajie Wu, Wenyi Liu, Yunfan Ren, Zheng Liu","submitted_at":"2025-04-24T13:59:06Z","abstract_excerpt":"Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based system designed to enable UAVs to avoid various moving obstacles in complex environments. Benefiting the high computational efficiency of perception and planning, the system can operate in real time using onboard computing resources with low latency. For dynamic environment perception, we have integrated our previous work, M-detector, into the system. M-detect"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.17569","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/2504.17569/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":"2504.17569","created_at":"2026-07-05T10:53:31.336493+00:00"},{"alias_kind":"arxiv_version","alias_value":"2504.17569v1","created_at":"2026-07-05T10:53:31.336493+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.17569","created_at":"2026-07-05T10:53:31.336493+00:00"},{"alias_kind":"pith_short_12","alias_value":"TX7D53R3JDYI","created_at":"2026-07-05T10:53:31.336493+00:00"},{"alias_kind":"pith_short_16","alias_value":"TX7D53R3JDYIG74C","created_at":"2026-07-05T10:53:31.336493+00:00"},{"alias_kind":"pith_short_8","alias_value":"TX7D53R3","created_at":"2026-07-05T10:53:31.336493+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/TX7D53R3JDYIG74CPGZIJLZ2TS","json":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS.json","graph_json":"https://pith.science/api/pith-number/TX7D53R3JDYIG74CPGZIJLZ2TS/graph.json","events_json":"https://pith.science/api/pith-number/TX7D53R3JDYIG74CPGZIJLZ2TS/events.json","paper":"https://pith.science/paper/TX7D53R3"},"agent_actions":{"view_html":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS","download_json":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS.json","view_paper":"https://pith.science/paper/TX7D53R3","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2504.17569&json=true","fetch_graph":"https://pith.science/api/pith-number/TX7D53R3JDYIG74CPGZIJLZ2TS/graph.json","fetch_events":"https://pith.science/api/pith-number/TX7D53R3JDYIG74CPGZIJLZ2TS/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS/action/timestamp_anchor","attest_storage":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS/action/storage_attestation","attest_author":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS/action/author_attestation","sign_citation":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS/action/citation_signature","submit_replication":"https://pith.science/pith/TX7D53R3JDYIG74CPGZIJLZ2TS/action/replication_record"}},"created_at":"2026-07-05T10:53:31.336493+00:00","updated_at":"2026-07-05T10:53:31.336493+00:00"}