{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:VLBRJO4VHI4S3EPMAOKRJDMXKU","short_pith_number":"pith:VLBRJO4V","canonical_record":{"source":{"id":"2305.07228","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-12T03:45:14Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"06e375e00742a9f13c4bc8ce289a1efce2c929dfcb337c492e6358227d811fa6","abstract_canon_sha256":"c38fbeefd0920bf98c82c17358773325b14fd7e90d6b7dd6e40e0f7e2b21cc65"},"schema_version":"1.0"},"canonical_sha256":"aac314bb953a392d91ec0395148d975530ede916995ea1b4be159c999de02564","source":{"kind":"arxiv","id":"2305.07228","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.07228","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"arxiv_version","alias_value":"2305.07228v1","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.07228","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_12","alias_value":"VLBRJO4VHI4S","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_16","alias_value":"VLBRJO4VHI4S3EPM","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_8","alias_value":"VLBRJO4V","created_at":"2026-07-05T06:09:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:VLBRJO4VHI4S3EPMAOKRJDMXKU","target":"record","payload":{"canonical_record":{"source":{"id":"2305.07228","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-12T03:45:14Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"06e375e00742a9f13c4bc8ce289a1efce2c929dfcb337c492e6358227d811fa6","abstract_canon_sha256":"c38fbeefd0920bf98c82c17358773325b14fd7e90d6b7dd6e40e0f7e2b21cc65"},"schema_version":"1.0"},"canonical_sha256":"aac314bb953a392d91ec0395148d975530ede916995ea1b4be159c999de02564","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:09:24.269047Z","signature_b64":"42A2lmi4x25aRc9/f2onI98f1LZYcR/VqE9yT8qTxpoXmEwu616wP+kH619JeSCfFh8wvwmuMpVxo0jHLCdODg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aac314bb953a392d91ec0395148d975530ede916995ea1b4be159c999de02564","last_reissued_at":"2026-07-05T06:09:24.268661Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:09:24.268661Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2305.07228","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":"2026-07-05T06:09:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gr5h1ZpYbG7NPw8UPosBkcpJaQVelrBRbTSG23zjdNnIleUwHKuUEJt9iBFhK7KaI+ln9GeOXaw7R8p3imATDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T11:28:19.853644Z"},"content_sha256":"a042850ab8a3c2c488f2420ca8a8007ba2b6265f19fc7e8515a40e6f53f63e29","schema_version":"1.0","event_id":"sha256:a042850ab8a3c2c488f2420ca8a8007ba2b6265f19fc7e8515a40e6f53f63e29"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:VLBRJO4VHI4S3EPMAOKRJDMXKU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Simulator for Fully-Actuated UAVs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer","submitted_at":"2023-05-12T03:45:14Z","abstract_excerpt":"This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has helped us rapidly implement and test different controllers ranging from Hybrid Force-Position Controllers to advanced Model Predictive Path Integrals and has allowed us to analyze the design and behavior of different fully-actuated UAVs. We used the simulator to enable real-world deployments of our fully-actuated UAV fleet for different applications. The simu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.07228","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/2305.07228/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:09:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"QG1OGXs/R3PWavjRp0+AuLMr+i1j4cQXIWqW0FdncGoXIKWQ6gZHuSR+PcwRbEfXbH2SQssFmofD5uog4j17AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T11:28:19.854167Z"},"content_sha256":"46ebb6c6112aa44a2b0d8080b7fa13c68253632f311d35aeb914e0fe02aecec7","schema_version":"1.0","event_id":"sha256:46ebb6c6112aa44a2b0d8080b7fa13c68253632f311d35aeb914e0fe02aecec7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/bundle.json","state_url":"https://pith.science/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/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":"2026-08-15T11:28:19Z","links":{"resolver":"https://pith.science/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU","bundle":"https://pith.science/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/bundle.json","state":"https://pith.science/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VLBRJO4VHI4S3EPMAOKRJDMXKU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:VLBRJO4VHI4S3EPMAOKRJDMXKU","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":"c38fbeefd0920bf98c82c17358773325b14fd7e90d6b7dd6e40e0f7e2b21cc65","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-12T03:45:14Z","title_canon_sha256":"06e375e00742a9f13c4bc8ce289a1efce2c929dfcb337c492e6358227d811fa6"},"schema_version":"1.0","source":{"id":"2305.07228","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.07228","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"arxiv_version","alias_value":"2305.07228v1","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.07228","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_12","alias_value":"VLBRJO4VHI4S","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_16","alias_value":"VLBRJO4VHI4S3EPM","created_at":"2026-07-05T06:09:24Z"},{"alias_kind":"pith_short_8","alias_value":"VLBRJO4V","created_at":"2026-07-05T06:09:24Z"}],"graph_snapshots":[{"event_id":"sha256:46ebb6c6112aa44a2b0d8080b7fa13c68253632f311d35aeb914e0fe02aecec7","target":"graph","created_at":"2026-07-05T06:09:24Z","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/2305.07228/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has helped us rapidly implement and test different controllers ranging from Hybrid Force-Position Controllers to advanced Model Predictive Path Integrals and has allowed us to analyze the design and behavior of different fully-actuated UAVs. We used the simulator to enable real-world deployments of our fully-actuated UAV fleet for different applications. The simu","authors_text":"Azarakhsh Keipour, Mohammadreza Mousaei, Sebastian Scherer","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-12T03:45:14Z","title":"A Simulator for Fully-Actuated UAVs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.07228","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:a042850ab8a3c2c488f2420ca8a8007ba2b6265f19fc7e8515a40e6f53f63e29","target":"record","created_at":"2026-07-05T06:09:24Z","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":"c38fbeefd0920bf98c82c17358773325b14fd7e90d6b7dd6e40e0f7e2b21cc65","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-12T03:45:14Z","title_canon_sha256":"06e375e00742a9f13c4bc8ce289a1efce2c929dfcb337c492e6358227d811fa6"},"schema_version":"1.0","source":{"id":"2305.07228","kind":"arxiv","version":1}},"canonical_sha256":"aac314bb953a392d91ec0395148d975530ede916995ea1b4be159c999de02564","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aac314bb953a392d91ec0395148d975530ede916995ea1b4be159c999de02564","first_computed_at":"2026-07-05T06:09:24.268661Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:09:24.268661Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"42A2lmi4x25aRc9/f2onI98f1LZYcR/VqE9yT8qTxpoXmEwu616wP+kH619JeSCfFh8wvwmuMpVxo0jHLCdODg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:09:24.269047Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.07228","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a042850ab8a3c2c488f2420ca8a8007ba2b6265f19fc7e8515a40e6f53f63e29","sha256:46ebb6c6112aa44a2b0d8080b7fa13c68253632f311d35aeb914e0fe02aecec7"],"state_sha256":"88cb785ed3a3d56f184b29dd53de2b5e05525ddc79b6b5fea0648d66de5e0ce0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N5lPIyQSgx515PIzNiJ1BkB8xxoBXIFnmQ0QsLbkly3jgHtLea6uhPKLlryym8gPxb9LOKBPLaYtRyENmmxxBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T11:28:19.858500Z","bundle_sha256":"357b3021a92e320c97439ea14368423d761dd579ce04a02a72f6b686d590084d"}}