Pith Number

pith:4P7AM6HY

pith:2021:4P7AM6HYQLDAM6LEM74Z6FWVXP

not attested not anchored not stored refs pending

Shortest Paths in Graphs of Convex Sets

Jack Umenberger, Pablo A. Parrilo, Russ Tedrake, Tobia Marcucci

arxiv:2101.11565 v5 · 2021-01-27 · cs.DM · 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{4P7AM6HYQLDAM6LEM74Z6FWVXP}

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.

Cited by

1 paper in Pith

Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets

Receipt and verification

First computed	2026-07-05T08:17:07.636967Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e3fe0678f882c606796467f99f16d5bbd27ef06fe426cf3dc137c24e91f3e975

Aliases

arxiv: 2101.11565 · arxiv_version: 2101.11565v5 · doi: 10.48550/arxiv.2101.11565 · pith_short_12: 4P7AM6HYQLDA · pith_short_16: 4P7AM6HYQLDAM6LE · pith_short_8: 4P7AM6HY

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/4P7AM6HYQLDAM6LEM74Z6FWVXP \
  | 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: e3fe0678f882c606796467f99f16d5bbd27ef06fe426cf3dc137c24e91f3e975

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f7b3e1686e12d1f3ff9705be140d136619f3a377a07e6a7f7a16c1498de86b3e",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.DM",
    "submitted_at": "2021-01-27T17:40:11Z",
    "title_canon_sha256": "2d6a365bf896545df65974247d8e00cec42c1de0a5b3d1bed31ff51d1eab2010"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2101.11565",
    "kind": "arxiv",
    "version": 5
  }
}