{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:YGFK6HH5WRMMVU3X26TAXYYR5B","short_pith_number":"pith:YGFK6HH5","schema_version":"1.0","canonical_sha256":"c18aaf1cfdb458cad377d7a60be311e85d100630e9d58a9a6b00de9d83b08126","source":{"kind":"arxiv","id":"2003.02992","version":1},"attestation_state":"computed","paper":{"title":"Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Guanya Shi, Soon-Jo Chung, Wolfgang H\\\"onig, Yisong Yue","submitted_at":"2020-03-06T01:39:19Z","abstract_excerpt":"In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers that must maintain large safety distances between vehicles, and thus are not capable of close-proximity flight. Our approach combines a nominal dynamics model with a regularized permutation-invariant"},"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":"2003.02992","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-06T01:39:19Z","cross_cats_sorted":["cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"c3889af801f37d0e0e5da6ca044f2eb4d57cebbe2f10ac902f1b0f07539b7b1b","abstract_canon_sha256":"10068d4f2dafc271293a23889f90b87c5c6f9486aeb86fa5fe0da7d6c8c1d275"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:46:08.942573Z","signature_b64":"h3rDzbhIHgKnfw3h/uQ7Yx068B6wrCFYQSogmk1PDjYHoc7b0TLlF/ZU17wKtyFm8s+BveOuDZKRZUDCHvMdCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c18aaf1cfdb458cad377d7a60be311e85d100630e9d58a9a6b00de9d83b08126","last_reissued_at":"2026-07-05T00:46:08.942167Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:46:08.942167Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Guanya Shi, Soon-Jo Chung, Wolfgang H\\\"onig, Yisong Yue","submitted_at":"2020-03-06T01:39:19Z","abstract_excerpt":"In this paper, we present Neural-Swarm, a nonlinear decentralized stable controller for close-proximity flight of multirotor swarms. Close-proximity control is challenging due to the complex aerodynamic interaction effects between multirotors, such as downwash from higher vehicles to lower ones. Conventional methods often fail to properly capture these interaction effects, resulting in controllers that must maintain large safety distances between vehicles, and thus are not capable of close-proximity flight. Our approach combines a nominal dynamics model with a regularized permutation-invariant"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.02992","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/2003.02992/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":"2003.02992","created_at":"2026-07-05T00:46:08.942222+00:00"},{"alias_kind":"arxiv_version","alias_value":"2003.02992v1","created_at":"2026-07-05T00:46:08.942222+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.02992","created_at":"2026-07-05T00:46:08.942222+00:00"},{"alias_kind":"pith_short_12","alias_value":"YGFK6HH5WRMM","created_at":"2026-07-05T00:46:08.942222+00:00"},{"alias_kind":"pith_short_16","alias_value":"YGFK6HH5WRMMVU3X","created_at":"2026-07-05T00:46:08.942222+00:00"},{"alias_kind":"pith_short_8","alias_value":"YGFK6HH5","created_at":"2026-07-05T00:46:08.942222+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/YGFK6HH5WRMMVU3X26TAXYYR5B","json":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B.json","graph_json":"https://pith.science/api/pith-number/YGFK6HH5WRMMVU3X26TAXYYR5B/graph.json","events_json":"https://pith.science/api/pith-number/YGFK6HH5WRMMVU3X26TAXYYR5B/events.json","paper":"https://pith.science/paper/YGFK6HH5"},"agent_actions":{"view_html":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B","download_json":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B.json","view_paper":"https://pith.science/paper/YGFK6HH5","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2003.02992&json=true","fetch_graph":"https://pith.science/api/pith-number/YGFK6HH5WRMMVU3X26TAXYYR5B/graph.json","fetch_events":"https://pith.science/api/pith-number/YGFK6HH5WRMMVU3X26TAXYYR5B/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B/action/storage_attestation","attest_author":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B/action/author_attestation","sign_citation":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B/action/citation_signature","submit_replication":"https://pith.science/pith/YGFK6HH5WRMMVU3X26TAXYYR5B/action/replication_record"}},"created_at":"2026-07-05T00:46:08.942222+00:00","updated_at":"2026-07-05T00:46:08.942222+00:00"}