Pith Number

pith:2RKFEZSX

pith:2026:2RKFEZSXJTC5KS6FNWEZDNPDCY

not attested not anchored not stored refs pending

Motion planning for hundreds of floating robots

Antonio Terpin, Aswin Ramachandran, Jan Kamm, Raffaello D'Andrea

arxiv:2606.09620 v1 · 2026-06-08 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2RKFEZSXJTC5KS6FNWEZDNPDCY}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-06-09T02:08:59.378290Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d4545266574cc5d54bc56d8991b5e3163143c65d2969bdcdad6c223f3ca35c2b

Aliases

arxiv: 2606.09620 · arxiv_version: 2606.09620v1 · doi: 10.48550/arxiv.2606.09620 · pith_short_12: 2RKFEZSXJTC5 · pith_short_16: 2RKFEZSXJTC5KS6F · pith_short_8: 2RKFEZSX

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/2RKFEZSXJTC5KS6FNWEZDNPDCY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: d4545266574cc5d54bc56d8991b5e3163143c65d2969bdcdad6c223f3ca35c2b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "aa83e39b43af146c651697eefc27d59af03fa5a26d1a3608a0b66f3393c0b367",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-08T15:24:50Z",
    "title_canon_sha256": "ba641249263afae4db458fac5f2a73fea812b4e20ab6f1a2d9b1abc40db8f893"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.09620",
    "kind": "arxiv",
    "version": 1
  }
}