{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:UQEFLXU2CU54FM7TOECYEKF26Y","short_pith_number":"pith:UQEFLXU2","schema_version":"1.0","canonical_sha256":"a40855de9a153bc2b3f371058228baf60ad30344955f1c2b56c7e9ddce4f225f","source":{"kind":"arxiv","id":"2008.08050","version":6},"attestation_state":"computed","paper":{"title":"The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Daniel Hert, Martin Saska, Matej Petrlik, Matous Vrba, Robert Penicka, Tomas Baca, Vojtech Spurny","submitted_at":"2020-08-18T17:28:55Z","abstract_excerpt":"We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and"},"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":"2008.08050","kind":"arxiv","version":6},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-08-18T17:28:55Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"45aa8a58038679b4eec195fee406f2a86b4bb56221dcd9acb576ad8c6b17add9","abstract_canon_sha256":"bd5ee12aa97395f4eccbb9e39642878408ef9d4ca491724bc88b90422d56f915"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:52:52.619970Z","signature_b64":"oeeZ0chROZeQlJ3IX7KDjG/qGFG+Jt14fOH90ulAvigXUTAQW9o6y/zzXUhF4VJoSO8Ji0zDLt0ncbtBgu2oBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a40855de9a153bc2b3f371058228baf60ad30344955f1c2b56c7e9ddce4f225f","last_reissued_at":"2026-07-05T10:52:52.619514Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:52:52.619514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Daniel Hert, Martin Saska, Matej Petrlik, Matous Vrba, Robert Penicka, Tomas Baca, Vojtech Spurny","submitted_at":"2020-08-18T17:28:55Z","abstract_excerpt":"We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.08050","kind":"arxiv","version":6},"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/2008.08050/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":"2008.08050","created_at":"2026-07-05T10:52:52.619570+00:00"},{"alias_kind":"arxiv_version","alias_value":"2008.08050v6","created_at":"2026-07-05T10:52:52.619570+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.08050","created_at":"2026-07-05T10:52:52.619570+00:00"},{"alias_kind":"pith_short_12","alias_value":"UQEFLXU2CU54","created_at":"2026-07-05T10:52:52.619570+00:00"},{"alias_kind":"pith_short_16","alias_value":"UQEFLXU2CU54FM7T","created_at":"2026-07-05T10:52:52.619570+00:00"},{"alias_kind":"pith_short_8","alias_value":"UQEFLXU2","created_at":"2026-07-05T10:52:52.619570+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/UQEFLXU2CU54FM7TOECYEKF26Y","json":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y.json","graph_json":"https://pith.science/api/pith-number/UQEFLXU2CU54FM7TOECYEKF26Y/graph.json","events_json":"https://pith.science/api/pith-number/UQEFLXU2CU54FM7TOECYEKF26Y/events.json","paper":"https://pith.science/paper/UQEFLXU2"},"agent_actions":{"view_html":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y","download_json":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y.json","view_paper":"https://pith.science/paper/UQEFLXU2","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2008.08050&json=true","fetch_graph":"https://pith.science/api/pith-number/UQEFLXU2CU54FM7TOECYEKF26Y/graph.json","fetch_events":"https://pith.science/api/pith-number/UQEFLXU2CU54FM7TOECYEKF26Y/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y/action/timestamp_anchor","attest_storage":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y/action/storage_attestation","attest_author":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y/action/author_attestation","sign_citation":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y/action/citation_signature","submit_replication":"https://pith.science/pith/UQEFLXU2CU54FM7TOECYEKF26Y/action/replication_record"}},"created_at":"2026-07-05T10:52:52.619570+00:00","updated_at":"2026-07-05T10:52:52.619570+00:00"}