Pith Number

pith:3CSAF36Z

pith:2020:3CSAF36ZXMCWC4OYLPEQK7Z2G4

not attested not anchored not stored refs pending

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Aaron D. Ames, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Ruben Grandia

arxiv:2006.01229 v1 · 2020-06-01 · eess.SY · cs.RO · cs.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{3CSAF36ZXMCWC4OYLPEQK7Z2G4}

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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.

Cited by

2 papers in Pith

FORMULA: FORmation MPC with neUral barrier Learning for safety Assurance

Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters

Receipt and verification

First computed	2026-07-05T01:52:46.889774Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d8a402efd9bb056171d85bc9057f3a37091d105eacf3df2210bfb0aa5672a78a

Aliases

arxiv: 2006.01229 · arxiv_version: 2006.01229v1 · doi: 10.48550/arxiv.2006.01229 · pith_short_12: 3CSAF36ZXMCW · pith_short_16: 3CSAF36ZXMCWC4OY · pith_short_8: 3CSAF36Z

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/3CSAF36ZXMCWC4OYLPEQK7Z2G4 \
  | 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: d8a402efd9bb056171d85bc9057f3a37091d105eacf3df2210bfb0aa5672a78a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0bd8aebb35f70702fb82f0e92fe1de724f45f183e37be28e51f1f9dbee0be61f",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2020-06-01T20:02:55Z",
    "title_canon_sha256": "1472cded44046a00a7163940332c2dea00df59ef855fd74dd01795cfe11659fc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2006.01229",
    "kind": "arxiv",
    "version": 1
  }
}