Pith Number

pith:AH4NQTQ2

pith:2016:AH4NQTQ2YESAQMSI7FUXLUULMP

not attested not anchored not stored refs pending

Robust Distance-Based Formation Control of Multiple Rigid Bodies with Orientation Alignment

Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas

arxiv:1611.01824 v3 · 2016-11-06 · cs.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{AH4NQTQ2YESAQMSI7FUXLUULMP}

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	2026-05-18T00:46:55.393099Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

01f8d84e1ac124083248f96975d28b63df0f8cadd8ae141ad98184483ca98e7b

Aliases

arxiv: 1611.01824 · arxiv_version: 1611.01824v3 · doi: 10.48550/arxiv.1611.01824 · pith_short_12: AH4NQTQ2YESA · pith_short_16: AH4NQTQ2YESAQMSI · pith_short_8: AH4NQTQ2

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/AH4NQTQ2YESAQMSI7FUXLUULMP \
  | 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: 01f8d84e1ac124083248f96975d28b63df0f8cadd8ae141ad98184483ca98e7b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "888eaeb2917b414686b53b30e198a9d7daa5bc0309ce2ddad78d0a8b490cd590",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2016-11-06T19:10:49Z",
    "title_canon_sha256": "24fb0e64821f39a66726210dc7be315668ca9f3a6aa2cc6a3f0d271caed24879"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1611.01824",
    "kind": "arxiv",
    "version": 3
  }
}