Pith Number

pith:4PTOKQEQ

pith:2024:4PTOKQEQ3D7KATVANQ43F6G4AG

not attested not anchored not stored refs pending

Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance

Jeppe Heini Mikkelsen, Martin Saska, Matteo Fumagalli, Roberto Galeazzi, Vit Kratky

arxiv:2408.15046 v1 · 2024-08-27 · cs.RO · cs.SY · eess.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{4PTOKQEQ3D7KATVANQ43F6G4AG}

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	2026-07-05T08:59:42.568610Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e3e6e54090d8fea04ea06c39b2f8dc019cc917b156a5a90049ac66a4634d6b71

Aliases

arxiv: 2408.15046 · arxiv_version: 2408.15046v1 · doi: 10.48550/arxiv.2408.15046 · pith_short_12: 4PTOKQEQ3D7K · pith_short_16: 4PTOKQEQ3D7KATVA · pith_short_8: 4PTOKQEQ

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/4PTOKQEQ3D7KATVANQ43F6G4AG \
  | 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: e3e6e54090d8fea04ea06c39b2f8dc019cc917b156a5a90049ac66a4634d6b71

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a5f58a603662318175c461de078dbc47c366930c47a60316669a1128c7d63ec7",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-08-27T13:14:15Z",
    "title_canon_sha256": "0b268b9f0edec7288063cad202bb48be80261e92e0f5513a1c07d2fb4b7cdf15"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2408.15046",
    "kind": "arxiv",
    "version": 1
  }
}