Pith Number

pith:7WJ3DR64

pith:2021:7WJ3DR64B5SYZIGIE2BBBBKOIM

not attested not anchored not stored refs pending

Safe, Deterministic Trajectory Planning for Unstructured and Partially Occluded Environments

Martin Fr\"anzle, Maximilian Kneissl, Sebastian vom Dorff

arxiv:2109.04175 v2 · 2021-09-09 · 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{7WJ3DR64B5SYZIGIE2BBBBKOIM}

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	2026-07-05T03:18:55.434422Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fd93b1c7dc0f658ca0c8268210854e430509b0ed35598c1aacb1f5fb54f66ecf

Aliases

arxiv: 2109.04175 · arxiv_version: 2109.04175v2 · doi: 10.48550/arxiv.2109.04175 · pith_short_12: 7WJ3DR64B5SY · pith_short_16: 7WJ3DR64B5SYZIGI · pith_short_8: 7WJ3DR64

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/7WJ3DR64B5SYZIGIE2BBBBKOIM \
  | 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: fd93b1c7dc0f658ca0c8268210854e430509b0ed35598c1aacb1f5fb54f66ecf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6fba3f5f7610a6f4c47faaaff846d7c6a11933cff80a2205a3cae8f9b0103e98",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-09T11:28:13Z",
    "title_canon_sha256": "6529d03268b35111147b1adc13dfe2b3a938710d950b39e8b8627ad23d090acb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04175",
    "kind": "arxiv",
    "version": 2
  }
}