Pith Number

pith:2ZZMPZGV

pith:2024:2ZZMPZGVJWKTFJJWQGZDFHNG2E

not attested not anchored not stored refs pending

Behavior Tree Capabilities for Dynamic Multi-Robot Task Allocation with Heterogeneous Robot Teams

Arne Roennau, David Oberacker, Georg Heppner, R\"udiger Dillmann

arxiv:2402.02833 v1 · 2024-02-05 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2ZZMPZGVJWKTFJJWQGZDFHNG2E}

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	2026-07-05T09:31:29.520423Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d672c7e4d54d9532a53681b2329da6d125c7f286a7e5a8f97fa2da9b428517a9

Aliases

arxiv: 2402.02833 · arxiv_version: 2402.02833v1 · doi: 10.48550/arxiv.2402.02833 · pith_short_12: 2ZZMPZGVJWKT · pith_short_16: 2ZZMPZGVJWKTFJJW · pith_short_8: 2ZZMPZGV

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/2ZZMPZGVJWKTFJJWQGZDFHNG2E \
  | 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: d672c7e4d54d9532a53681b2329da6d125c7f286a7e5a8f97fa2da9b428517a9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ee90e781849cdeee5218a0331c6b3319afe0bc9ab5d340f5047194b8d8437229",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-05T09:44:30Z",
    "title_canon_sha256": "bb2332e05becaac6a7d5b9f0ec67ce220b75813bb0d72521e88b386f1045fcb6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.02833",
    "kind": "arxiv",
    "version": 1
  }
}