{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:XV5PE45WWWS4RMUPANOVWKSFSB","short_pith_number":"pith:XV5PE45W","schema_version":"1.0","canonical_sha256":"bd7af273b6b5a5c8b28f035d5b2a459069c89e7f4e391a193a0acbe271b30cde","source":{"kind":"arxiv","id":"1611.09240","version":2},"attestation_state":"computed","paper":{"title":"Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Michael Burri, Mina Kamel, Roland Siegwart","submitted_at":"2016-11-28T17:02:12Z","abstract_excerpt":"Precise trajectory tracking is a crucial property for \\acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for \\ac{MAV} trajectory tracking. A classical \\ac{LMPC} is presented and compared against a more advanced \\ac{NMPC} that considers the full system model. In a careful analysis we show the advantages and disadvantages of the two implementations in terms of speed and tracking performance. This is achieved by evaluating hovering performance, step response, and aggressive"},"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":"1611.09240","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-11-28T17:02:12Z","cross_cats_sorted":[],"title_canon_sha256":"f9481a5c715acc865084ad0385a276fb11d11109479e6b16f624c18901bbeb04","abstract_canon_sha256":"14d44e2863c7ccc64d8890b906784cdbbc33057eb506b59dac5b1596bc72fa5a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:45:58.437849Z","signature_b64":"MYsARoSh03CsBOD1N6SLOVnswZf9GDQKJgRMIfMuTuc0TULUUw4Brn+6oB2t3TK3m50icGzuDypIJ3Z8ITEUCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bd7af273b6b5a5c8b28f035d5b2a459069c89e7f4e391a193a0acbe271b30cde","last_reissued_at":"2026-05-18T00:45:58.437384Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:45:58.437384Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Michael Burri, Mina Kamel, Roland Siegwart","submitted_at":"2016-11-28T17:02:12Z","abstract_excerpt":"Precise trajectory tracking is a crucial property for \\acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for \\ac{MAV} trajectory tracking. A classical \\ac{LMPC} is presented and compared against a more advanced \\ac{NMPC} that considers the full system model. In a careful analysis we show the advantages and disadvantages of the two implementations in terms of speed and tracking performance. This is achieved by evaluating hovering performance, step response, and aggressive"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.09240","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"},"aliases":[{"alias_kind":"arxiv","alias_value":"1611.09240","created_at":"2026-05-18T00:45:58.437455+00:00"},{"alias_kind":"arxiv_version","alias_value":"1611.09240v2","created_at":"2026-05-18T00:45:58.437455+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1611.09240","created_at":"2026-05-18T00:45:58.437455+00:00"},{"alias_kind":"pith_short_12","alias_value":"XV5PE45WWWS4","created_at":"2026-05-18T12:30:51.357362+00:00"},{"alias_kind":"pith_short_16","alias_value":"XV5PE45WWWS4RMUP","created_at":"2026-05-18T12:30:51.357362+00:00"},{"alias_kind":"pith_short_8","alias_value":"XV5PE45W","created_at":"2026-05-18T12:30:51.357362+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/XV5PE45WWWS4RMUPANOVWKSFSB","json":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB.json","graph_json":"https://pith.science/api/pith-number/XV5PE45WWWS4RMUPANOVWKSFSB/graph.json","events_json":"https://pith.science/api/pith-number/XV5PE45WWWS4RMUPANOVWKSFSB/events.json","paper":"https://pith.science/paper/XV5PE45W"},"agent_actions":{"view_html":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB","download_json":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB.json","view_paper":"https://pith.science/paper/XV5PE45W","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1611.09240&json=true","fetch_graph":"https://pith.science/api/pith-number/XV5PE45WWWS4RMUPANOVWKSFSB/graph.json","fetch_events":"https://pith.science/api/pith-number/XV5PE45WWWS4RMUPANOVWKSFSB/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB/action/storage_attestation","attest_author":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB/action/author_attestation","sign_citation":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB/action/citation_signature","submit_replication":"https://pith.science/pith/XV5PE45WWWS4RMUPANOVWKSFSB/action/replication_record"}},"created_at":"2026-05-18T00:45:58.437455+00:00","updated_at":"2026-05-18T00:45:58.437455+00:00"}