{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:VOS7M5HTEU77IOUUER6MPSAOJ3","short_pith_number":"pith:VOS7M5HT","canonical_record":{"source":{"id":"2205.05140","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-05-10T19:46:14Z","cross_cats_sorted":[],"title_canon_sha256":"489d23a2f2a085ea0bfcdf493f2530125e7707b86bb67104263af57c55891013","abstract_canon_sha256":"445b7366fb1d2cbe21ccb772069435fbb33a9b248f631093d362285548310dc9"},"schema_version":"1.0"},"canonical_sha256":"aba5f674f3253ff43a94247cc7c80e4ef720318a46fc03c7d80d62e17d44ff72","source":{"kind":"arxiv","id":"2205.05140","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.05140","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"arxiv_version","alias_value":"2205.05140v3","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.05140","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_12","alias_value":"VOS7M5HTEU77","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_16","alias_value":"VOS7M5HTEU77IOUU","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_8","alias_value":"VOS7M5HT","created_at":"2026-07-05T07:31:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:VOS7M5HTEU77IOUUER6MPSAOJ3","target":"record","payload":{"canonical_record":{"source":{"id":"2205.05140","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-05-10T19:46:14Z","cross_cats_sorted":[],"title_canon_sha256":"489d23a2f2a085ea0bfcdf493f2530125e7707b86bb67104263af57c55891013","abstract_canon_sha256":"445b7366fb1d2cbe21ccb772069435fbb33a9b248f631093d362285548310dc9"},"schema_version":"1.0"},"canonical_sha256":"aba5f674f3253ff43a94247cc7c80e4ef720318a46fc03c7d80d62e17d44ff72","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:31:25.329518Z","signature_b64":"XYaPPWfFONr4etxXLVjde1kRDnRL7R+Y/BY45MmdFA90XKGGszX5KPnhvFw+wGyIPmxvVLvl1baMOvwqBYRxAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"aba5f674f3253ff43a94247cc7c80e4ef720318a46fc03c7d80d62e17d44ff72","last_reissued_at":"2026-07-05T07:31:25.328880Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:31:25.328880Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2205.05140","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:31:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UhoUZKBA/uf4zMvrPJWpqJSzwLOI8+0iE/FKuNscCtw4c+FNzoJqas51ZPqJa41sUiEomrJ7IogC946ZwF5RCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:30:47.107081Z"},"content_sha256":"459ec723a44ad44c0b97cfea05ee298f33b895b7f29f3cfd9e759d57eccb8500","schema_version":"1.0","event_id":"sha256:459ec723a44ad44c0b97cfea05ee298f33b895b7f29f3cfd9e759d57eccb8500"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:VOS7M5HTEU77IOUUER6MPSAOJ3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Giuseppe Loianno, Guanrui Li, Xinyang Liu","submitted_at":"2022-05-10T19:46:14Z","abstract_excerpt":"Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and rescue. These systems, composed of single or multiple vehicles, can be endowed with passive connection mechanisms such as rigid links or cables to perform transportation and manipulation tasks. However, they are inherently complex since they are often underactuated and evolve in nonlinear manifold configuration spaces. In addition, the complexity of systems with"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.05140","kind":"arxiv","version":3},"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/2205.05140/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":"2026-07-05T07:31:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uIa9dl9PYicwD7RS2UbZouHW0KZ36VkPHJd9jMoUveK4nFryInsnuZN+zBjWF9NqT6Ez9oT9i34lxVEA8R3KDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:30:47.107457Z"},"content_sha256":"3c8576c030c89404bf0048d1fa740306c72a5d2121509850ded6f0122dce4c2c","schema_version":"1.0","event_id":"sha256:3c8576c030c89404bf0048d1fa740306c72a5d2121509850ded6f0122dce4c2c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/bundle.json","state_url":"https://pith.science/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/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":"2026-07-06T10:30:47Z","links":{"resolver":"https://pith.science/pith/VOS7M5HTEU77IOUUER6MPSAOJ3","bundle":"https://pith.science/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/bundle.json","state":"https://pith.science/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VOS7M5HTEU77IOUUER6MPSAOJ3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:VOS7M5HTEU77IOUUER6MPSAOJ3","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":"445b7366fb1d2cbe21ccb772069435fbb33a9b248f631093d362285548310dc9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-05-10T19:46:14Z","title_canon_sha256":"489d23a2f2a085ea0bfcdf493f2530125e7707b86bb67104263af57c55891013"},"schema_version":"1.0","source":{"id":"2205.05140","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2205.05140","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"arxiv_version","alias_value":"2205.05140v3","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2205.05140","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_12","alias_value":"VOS7M5HTEU77","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_16","alias_value":"VOS7M5HTEU77IOUU","created_at":"2026-07-05T07:31:25Z"},{"alias_kind":"pith_short_8","alias_value":"VOS7M5HT","created_at":"2026-07-05T07:31:25Z"}],"graph_snapshots":[{"event_id":"sha256:3c8576c030c89404bf0048d1fa740306c72a5d2121509850ded6f0122dce4c2c","target":"graph","created_at":"2026-07-05T07:31:25Z","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/2205.05140/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment, such as construction, package delivery, and search and rescue. These systems, composed of single or multiple vehicles, can be endowed with passive connection mechanisms such as rigid links or cables to perform transportation and manipulation tasks. However, they are inherently complex since they are often underactuated and evolve in nonlinear manifold configuration spaces. In addition, the complexity of systems with","authors_text":"Giuseppe Loianno, Guanrui Li, Xinyang Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-05-10T19:46:14Z","title":"RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.05140","kind":"arxiv","version":3},"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":"sha256:459ec723a44ad44c0b97cfea05ee298f33b895b7f29f3cfd9e759d57eccb8500","target":"record","created_at":"2026-07-05T07:31:25Z","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":"445b7366fb1d2cbe21ccb772069435fbb33a9b248f631093d362285548310dc9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-05-10T19:46:14Z","title_canon_sha256":"489d23a2f2a085ea0bfcdf493f2530125e7707b86bb67104263af57c55891013"},"schema_version":"1.0","source":{"id":"2205.05140","kind":"arxiv","version":3}},"canonical_sha256":"aba5f674f3253ff43a94247cc7c80e4ef720318a46fc03c7d80d62e17d44ff72","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"aba5f674f3253ff43a94247cc7c80e4ef720318a46fc03c7d80d62e17d44ff72","first_computed_at":"2026-07-05T07:31:25.328880Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:31:25.328880Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XYaPPWfFONr4etxXLVjde1kRDnRL7R+Y/BY45MmdFA90XKGGszX5KPnhvFw+wGyIPmxvVLvl1baMOvwqBYRxAA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:31:25.329518Z","signed_message":"canonical_sha256_bytes"},"source_id":"2205.05140","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:459ec723a44ad44c0b97cfea05ee298f33b895b7f29f3cfd9e759d57eccb8500","sha256:3c8576c030c89404bf0048d1fa740306c72a5d2121509850ded6f0122dce4c2c"],"state_sha256":"1e560da4cfdb2a9671f5b520e3f32911bca4ff8f136129b0d1ee35f82220e12c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PbVFqHSnQHueIVtb1zCr7jRWd8k4h+jHzgExGv6T7oGazptvZ6AQKnLTy8k5OhEEAVSoBNyvCwpBSX7avyBMAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T10:30:47.109427Z","bundle_sha256":"23ca89270bfd67be451d9e6366fd69e0239975578f23a95e8d2b3ebb26d2416f"}}