{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:YIBA4AOSGFIQILIIIGPWSSS2EE","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":"c0fbfeac4e35ebf11e1d873fa77f093db224d5df47e717369f58b78ece713967","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-09-15T20:54:52Z","title_canon_sha256":"5490ebba5c62948519b4f1c0d85bbfb64cad4b1be0516bf681500ac2e2587640"},"schema_version":"1.0","source":{"id":"1709.05401","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1709.05401","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"arxiv_version","alias_value":"1709.05401v1","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1709.05401","created_at":"2026-05-18T00:35:00Z"},{"alias_kind":"pith_short_12","alias_value":"YIBA4AOSGFIQ","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_16","alias_value":"YIBA4AOSGFIQILII","created_at":"2026-05-18T12:31:56Z"},{"alias_kind":"pith_short_8","alias_value":"YIBA4AOS","created_at":"2026-05-18T12:31:56Z"}],"graph_snapshots":[{"event_id":"sha256:7f6b689b49bcf66b3eb0bc0ae0f1f27f1bb6862d49d52b573a8aa2b6577d7f7f","target":"graph","created_at":"2026-05-18T00:35:00Z","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"},"paper":{"abstract_excerpt":"In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the map using a set of short-duration motion primitives. The primitives are generated by solving an optimal control problem and induce a finite lattice discretization on the state space which can be explored using a graph-search algorithm. The proposed approach is able to generate resolution-complete (i.e., optimal in the discretized space), safe, dynamically fea","authors_text":"Kartik Mohta, Nikolay Atanasov, Sikang Liu, Vijay Kumar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-09-15T20:54:52Z","title":"Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1709.05401","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":"sha256:218edde960924a47a4c73167e2f9858b11c407b55b45f3ea1e2d26bc4dbc9f5c","target":"record","created_at":"2026-05-18T00:35:00Z","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":"c0fbfeac4e35ebf11e1d873fa77f093db224d5df47e717369f58b78ece713967","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2017-09-15T20:54:52Z","title_canon_sha256":"5490ebba5c62948519b4f1c0d85bbfb64cad4b1be0516bf681500ac2e2587640"},"schema_version":"1.0","source":{"id":"1709.05401","kind":"arxiv","version":1}},"canonical_sha256":"c2020e01d23151042d08419f694a5a211f37df6b6258888b3faec83357ba866d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c2020e01d23151042d08419f694a5a211f37df6b6258888b3faec83357ba866d","first_computed_at":"2026-05-18T00:35:00.880720Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:35:00.880720Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uQzR4Zu8K+qiAwxUxO9hq1vwAHjlJnlHRD9gFaxTHSNnJ4tB/oUUtV5wHHDU/K3gjKeRQxMbAKmn2Ep7bW/qDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:35:00.881412Z","signed_message":"canonical_sha256_bytes"},"source_id":"1709.05401","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:218edde960924a47a4c73167e2f9858b11c407b55b45f3ea1e2d26bc4dbc9f5c","sha256:7f6b689b49bcf66b3eb0bc0ae0f1f27f1bb6862d49d52b573a8aa2b6577d7f7f"],"state_sha256":"83b327fa1c0007904cf78f81e0ab160b667a61eadbe1153fe463b02dedf1db6d"}