Pith Number

pith:6QO6B4PE

pith:2019:6QO6B4PENKZSQARTHNKJF4VZVU

not attested not anchored not stored refs pending

Trajectory Tracking for Quadrotors with Attitude Control on $\mathcal{S}^2 \times \mathcal{S}^1$

Angela P. Schoellig, Dave Kooijman, Duarte J. Antunes

arxiv:1906.06926 v1 · 2019-06-17 · 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{6QO6B4PENKZSQARTHNKJF4VZVU}

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	2026-05-17T23:43:12.301599Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f41de0f1e46ab32802333b5492f2b9ad0a903b3ef244f91e11073c9afa4c8ccd

Aliases

arxiv: 1906.06926 · arxiv_version: 1906.06926v1 · doi: 10.48550/arxiv.1906.06926 · pith_short_12: 6QO6B4PENKZS · pith_short_16: 6QO6B4PENKZSQART · pith_short_8: 6QO6B4PE

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/6QO6B4PENKZSQARTHNKJF4VZVU \
  | 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: f41de0f1e46ab32802333b5492f2b9ad0a903b3ef244f91e11073c9afa4c8ccd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "02f56e96e962cfc67371fb1820a10b3999402d10816408de3d36d8642e2b2cc9",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-17T09:59:53Z",
    "title_canon_sha256": "155f08dc7b395ee613f511e5946194d89a781763d27f9ad24a64d6ac246e3f7c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.06926",
    "kind": "arxiv",
    "version": 1
  }
}