Pith Number

pith:5XUIKD45

pith:2022:5XUIKD45N6AGLXQFGGNG2OVOS6

not attested not anchored not stored refs pending

Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry

Koushil Sreenath, Mark W. Mueller, Shuxiao Chen, Xiangyu Wu

arxiv:2204.03134 v2 · 2022-04-07 · 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{5XUIKD45N6AGLXQFGGNG2OVOS6}

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	2026-07-05T04:45:00.979867Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ede8850f9d6f8065de05319a6d3aae979ef02d07ab694462fc3f73becb7c5475

Aliases

arxiv: 2204.03134 · arxiv_version: 2204.03134v2 · doi: 10.48550/arxiv.2204.03134 · pith_short_12: 5XUIKD45N6AG · pith_short_16: 5XUIKD45N6AGLXQF · pith_short_8: 5XUIKD45

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/5XUIKD45N6AGLXQFGGNG2OVOS6 \
  | 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: ede8850f9d6f8065de05319a6d3aae979ef02d07ab694462fc3f73becb7c5475

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7c7c13b02b945a5cf7dfa42afa97923b5ffca4e5fb082a8a84aab813cc6e8ba8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-04-07T00:24:29Z",
    "title_canon_sha256": "fd422672a2b394f532d24c6b4030a430037a24e357b8098452730e3f1cfd5dc7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2204.03134",
    "kind": "arxiv",
    "version": 2
  }
}