Pith Number

pith:4Z4CRV47

pith:2021:4Z4CRV477H3MTKIXYBELXVMXCV

not attested not anchored not stored refs pending

Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

Davide Scaramuzza, Drew Hanover, Elia Kaufmann, Philipp Foehn, Sihao Sun

arxiv:2109.04210 v2 · 2021-09-09 · 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{4Z4CRV477H3MTKIXYBELXVMXCV}

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	2026-07-05T03:37:28.632403Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e67828d79ff9f6c9a917c048bbd5971573514c2d7250b5646df0efe8067c73e6

Aliases

arxiv: 2109.04210 · arxiv_version: 2109.04210v2 · doi: 10.48550/arxiv.2109.04210 · pith_short_12: 4Z4CRV477H3M · pith_short_16: 4Z4CRV477H3MTKIX · pith_short_8: 4Z4CRV47

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/4Z4CRV477H3MTKIXYBELXVMXCV \
  | 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: e67828d79ff9f6c9a917c048bbd5971573514c2d7250b5646df0efe8067c73e6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1e4f443a52c031568433b7ffcc0a8e4843179c38fda4cce823d68dea03dcf8ca",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-09T12:30:08Z",
    "title_canon_sha256": "ee6e5c1ce8771719d66760ee0e17e65aa75110cb00eb5e91fe9a50811fa26634"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04210",
    "kind": "arxiv",
    "version": 2
  }
}