Pith Number

pith:4OP2QPJP

pith:2019:4OP2QPJPQJ2PFA2NQW2UAPZ2AF

not attested not anchored not stored refs pending

Disturbance Estimation and Rejection for High-Precision Multirotor Position Control

Daniel Hentzen, Roland Brockers, Roland Siegwart, Thomas Stastny

arxiv:1908.03166 v1 · 2019-08-08 · 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{4OP2QPJPQJ2PFA2NQW2UAPZ2AF}

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	2026-07-04T23:52:26.776085Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e39fa83d2f8274f2834d85b5403f3a016340506a791fc398d6070a3ea9973df0

Aliases

arxiv: 1908.03166 · arxiv_version: 1908.03166v1 · doi: 10.48550/arxiv.1908.03166 · pith_short_12: 4OP2QPJPQJ2P · pith_short_16: 4OP2QPJPQJ2PFA2N · pith_short_8: 4OP2QPJP

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/4OP2QPJPQJ2PFA2NQW2UAPZ2AF \
  | 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: e39fa83d2f8274f2834d85b5403f3a016340506a791fc398d6070a3ea9973df0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9bc8065575dacb4b2d8fb7633b0114dd0809aa7b1320e770712ce5b0dde94e6f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-08-08T16:56:49Z",
    "title_canon_sha256": "1c524c019b7dbb4fa53ebdc8d95903c356257d4229852fb8d8fbf7be8c06459b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1908.03166",
    "kind": "arxiv",
    "version": 1
  }
}