Pith Number

pith:54M56G2Q

pith:2022:54M56G2QM2VU3AFVRA3NHP5DA2

not attested not anchored not stored refs pending

Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance

Courtney McBeth, Diane Uwacu, James Motes, Marco Morales, Nancy M. Amato

arxiv:2210.07141 v2 · 2022-10-13 · cs.RO · cs.AI · cs.MA

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{54M56G2QM2VU3AFVRA3NHP5DA2}

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	2026-07-05T07:13:20.248925Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ef19df1b5066ab4d80b58836d3bfa30683275b4b5d67adaf173e48d850c7708c

Aliases

arxiv: 2210.07141 · arxiv_version: 2210.07141v2 · doi: 10.48550/arxiv.2210.07141 · pith_short_12: 54M56G2QM2VU · pith_short_16: 54M56G2QM2VU3AFV · pith_short_8: 54M56G2Q

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/54M56G2QM2VU3AFVRA3NHP5DA2 \
  | 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: ef19df1b5066ab4d80b58836d3bfa30683275b4b5d67adaf173e48d850c7708c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4ae977ef6c927fcc574a4527af387b92275bac41a574c15e35c79d2cd24443c3",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.MA"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-13T16:26:01Z",
    "title_canon_sha256": "8939664b8d9da4ee38ca4fb7598e60fd34ce307bf680fc6717b8943d032d2e50"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.07141",
    "kind": "arxiv",
    "version": 2
  }
}