Pith Number

pith:7UVRVMHJ

pith:2023:7UVRVMHJVA2OI3OV4DZSELDHX2

not attested not anchored not stored refs pending

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems

Hongye Su, Jihao Huang, Jun Zeng, Koushil Sreenath, Xuemin Chi, Zhitao Liu

arxiv:2304.07954 v2 · 2023-04-17 · cs.RO · cs.SY · eess.SY · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{7UVRVMHJVA2OI3OV4DZSELDHX2}

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	2026-07-05T08:29:14.727430Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fd2b1ab0e9a834e46dd5e0f3222c67be9f17a97f27b3abe4d8b2293a442ba004

Aliases

arxiv: 2304.07954 · arxiv_version: 2304.07954v2 · doi: 10.48550/arxiv.2304.07954 · pith_short_12: 7UVRVMHJVA2O · pith_short_16: 7UVRVMHJVA2OI3OV · pith_short_8: 7UVRVMHJ

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/7UVRVMHJVA2OI3OV4DZSELDHX2 \
  | 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: fd2b1ab0e9a834e46dd5e0f3222c67be9f17a97f27b3abe4d8b2293a442ba004

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c2490fab09fe1b7a2eace3dac9178188060ffe08cd164b47eb33527a311e2df8",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-04-17T02:42:48Z",
    "title_canon_sha256": "c2bc2d8844c50211393cde515d3cf594b666476fc2c2dfa2af6fef62935d4aeb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2304.07954",
    "kind": "arxiv",
    "version": 2
  }
}