Pith Number

pith:4ZZ3JN25

pith:2016:4ZZ3JN25LJMMNMDAVPZOGG2EU7

not attested not anchored not stored refs pending

SMAP: Simultaneous Mapping and Planning on Occupancy Grids

Ali-akbar Agha-mohammadi

arxiv:1608.04712 v3 · 2016-08-16 · 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{4ZZ3JN25LJMMNMDAVPZOGG2EU7}

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	2026-05-18T01:04:27.158276Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e673b4b75d5a58c6b060abf2e31b44a7f777a6fa0c6835e487f589eebd0adedf

Aliases

arxiv: 1608.04712 · arxiv_version: 1608.04712v3 · doi: 10.48550/arxiv.1608.04712 · pith_short_12: 4ZZ3JN25LJMM · pith_short_16: 4ZZ3JN25LJMMNMDA · pith_short_8: 4ZZ3JN25

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/4ZZ3JN25LJMMNMDAVPZOGG2EU7 \
  | 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: e673b4b75d5a58c6b060abf2e31b44a7f777a6fa0c6835e487f589eebd0adedf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "23ae8aa92600f3876e609c648d1e9c89d95ca9131d78b7d789fea63921f594df",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-08-16T19:15:28Z",
    "title_canon_sha256": "34e45762977c74fc74811ee25cbe7eec31e75cf27258ad5c5150ebfef1c727ae"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1608.04712",
    "kind": "arxiv",
    "version": 3
  }
}