Pith Number

pith:3NWIC3XH

pith:2026:3NWIC3XHTPS3QDTJO3AXKDF5PK

not attested not anchored not stored refs pending

ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots

Kapi Ketan Mehta, Kaveh Akbari Hamed, Ruturaj S. Sambhus, Yicheng Zeng

arxiv:2607.17007 v1 · 2026-07-18 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{3NWIC3XHTPS3QDTJO3AXKDF5PK}

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	2026-07-21T01:21:10.394829Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

db6c816ee79be5b80e6976c1750cbd7a82e03d5115f46426122dfaf3766de8e8

Aliases

arxiv: 2607.17007 · arxiv_version: 2607.17007v1 · doi: 10.48550/arxiv.2607.17007 · pith_short_12: 3NWIC3XHTPS3 · pith_short_16: 3NWIC3XHTPS3QDTJ · pith_short_8: 3NWIC3XH

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/3NWIC3XHTPS3QDTJO3AXKDF5PK \
  | 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: db6c816ee79be5b80e6976c1750cbd7a82e03d5115f46426122dfaf3766de8e8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a79183165e88822e11cc3c0d2bdf806b8c9e2799b0b9b22abd7fbbac56d4cd90",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-18T23:44:03Z",
    "title_canon_sha256": "be07483c4f4ae666d6e1effde66287aea62b36909352baf0988c351f7d98b192"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.17007",
    "kind": "arxiv",
    "version": 1
  }
}