{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:YMW4YTQBXMDDM6FZT22KDQTYYZ","short_pith_number":"pith:YMW4YTQB","schema_version":"1.0","canonical_sha256":"c32dcc4e01bb063678b99eb4a1c278c6625b52f27282e3ea6bbbb555b606cd97","source":{"kind":"arxiv","id":"1706.06478","version":2},"attestation_state":"computed","paper":{"title":"Minimum-time trajectory generation for quadrotors in constrained environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Giuseppe Notarstefano, Sara Spedicato","submitted_at":"2017-06-19T14:09:07Z","abstract_excerpt":"In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an appealing re-formulation. Transverse coordinates, expressing the distance from a frame path, are used to parameterise the vehicle position and a spatial parameter is used as independent variable. This r"},"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":"1706.06478","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-06-19T14:09:07Z","cross_cats_sorted":[],"title_canon_sha256":"ec1a976113953a421150c2fc6d20127c501406c8518b2f97e177cc92da1e985d","abstract_canon_sha256":"42e28d78f1e44c22270e1dc117974558d356499f71a9feee01353c9d3f97b3c7"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:41:57.477336Z","signature_b64":"cJ79mIxYJwc9T9CItnV4wFXg1iCkaIv64O1ft+LYdXroriTPrGvI/Ujc4MdRF9S+KJbsbX7fJrtc3nYeXzPbCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c32dcc4e01bb063678b99eb4a1c278c6625b52f27282e3ea6bbbb555b606cd97","last_reissued_at":"2026-05-18T00:41:57.476794Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:41:57.476794Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Minimum-time trajectory generation for quadrotors in constrained environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Giuseppe Notarstefano, Sara Spedicato","submitted_at":"2017-06-19T14:09:07Z","abstract_excerpt":"In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an appealing re-formulation. Transverse coordinates, expressing the distance from a frame path, are used to parameterise the vehicle position and a spatial parameter is used as independent variable. This r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.06478","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":"1706.06478","created_at":"2026-05-18T00:41:57.476878+00:00"},{"alias_kind":"arxiv_version","alias_value":"1706.06478v2","created_at":"2026-05-18T00:41:57.476878+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.06478","created_at":"2026-05-18T00:41:57.476878+00:00"},{"alias_kind":"pith_short_12","alias_value":"YMW4YTQBXMDD","created_at":"2026-05-18T12:31:56.362134+00:00"},{"alias_kind":"pith_short_16","alias_value":"YMW4YTQBXMDDM6FZ","created_at":"2026-05-18T12:31:56.362134+00:00"},{"alias_kind":"pith_short_8","alias_value":"YMW4YTQB","created_at":"2026-05-18T12:31:56.362134+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/YMW4YTQBXMDDM6FZT22KDQTYYZ","json":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ.json","graph_json":"https://pith.science/api/pith-number/YMW4YTQBXMDDM6FZT22KDQTYYZ/graph.json","events_json":"https://pith.science/api/pith-number/YMW4YTQBXMDDM6FZT22KDQTYYZ/events.json","paper":"https://pith.science/paper/YMW4YTQB"},"agent_actions":{"view_html":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ","download_json":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ.json","view_paper":"https://pith.science/paper/YMW4YTQB","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1706.06478&json=true","fetch_graph":"https://pith.science/api/pith-number/YMW4YTQBXMDDM6FZT22KDQTYYZ/graph.json","fetch_events":"https://pith.science/api/pith-number/YMW4YTQBXMDDM6FZT22KDQTYYZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ/action/storage_attestation","attest_author":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ/action/author_attestation","sign_citation":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ/action/citation_signature","submit_replication":"https://pith.science/pith/YMW4YTQBXMDDM6FZT22KDQTYYZ/action/replication_record"}},"created_at":"2026-05-18T00:41:57.476878+00:00","updated_at":"2026-05-18T00:41:57.476878+00:00"}