Pith Number

pith:5YQ3LGPM

pith:2025:5YQ3LGPMPB5ZCQLSL7K5HGKILP

not attested not anchored not stored refs pending

Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments

Kaoru Yamamoto, Nuthasith Gerdpratoom

arxiv:2505.09434 v2 · 2025-05-14 · 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{5YQ3LGPMPB5ZCQLSL7K5HGKILP}

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	2026-07-05T11:36:31.819918Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361

Aliases

arxiv: 2505.09434 · arxiv_version: 2505.09434v2 · doi: 10.48550/arxiv.2505.09434 · pith_short_12: 5YQ3LGPMPB5Z · pith_short_16: 5YQ3LGPMPB5ZCQLS · pith_short_8: 5YQ3LGPM

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/5YQ3LGPMPB5ZCQLSL7K5HGKILP \
  | 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: ee21b599ec787b9141725fd5d399485bf9350a7565b0ba316c280d51bae5b361

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "657a79373d5e9bcdf17cf522343701b8fce2dfbfb4992b1ea0df36e61a103b67",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-14T14:42:07Z",
    "title_canon_sha256": "07dc3c664570e1c29df4a2c6fcbed6d5a24c7555b75cc175ebdbd82d863ddf46"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.09434",
    "kind": "arxiv",
    "version": 2
  }
}