Pith Number

pith:AEAQI3WW

pith:2022:AEAQI3WW2ACFLEJV7REEJ5CGPY

not attested not anchored not stored refs pending

A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints

Heng Zhang, Jiawei Hu, Michael Yu Wang, Wenhang Liu, Zhenhua Xiong

arxiv:2210.03340 v1 · 2022-10-07 · cs.RO · cs.MA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{AEAQI3WW2ACFLEJV7REEJ5CGPY}

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	2026-07-05T05:04:18.992060Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0101046ed6d004559135fc4844f4467e188d308c707b23690e29f222b8d6959a

Aliases

arxiv: 2210.03340 · arxiv_version: 2210.03340v1 · doi: 10.48550/arxiv.2210.03340 · pith_short_12: AEAQI3WW2ACF · pith_short_16: AEAQI3WW2ACFLEJV · pith_short_8: AEAQI3WW

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/AEAQI3WW2ACFLEJV7REEJ5CGPY \
  | 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: 0101046ed6d004559135fc4844f4467e188d308c707b23690e29f222b8d6959a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7dd84ab01a6024ab5f39e7dc987adecccf4f0d5599cd83a28157aea40c732368",
    "cross_cats_sorted": [
      "cs.MA"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-07T06:06:30Z",
    "title_canon_sha256": "cbe7e2029c8937d3211f28c2f77095f7e36b20f1ab603bdaec8f9784ff9b15cd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.03340",
    "kind": "arxiv",
    "version": 1
  }
}