Pith Number

pith:AYFAIYPN

pith:2021:AYFAIYPNKK5PLDVMP4FZQHQ2YM

not attested not anchored not stored refs pending

Cooperative Transportation using Multiple Single-Rotor Robots and Decentralized Control for Unknown Payloads

Koshi Oishi, Tomohiko Jimbo, Yasushi Amano

arxiv:2111.01963 v2 · 2021-11-03 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{AYFAIYPNKK5PLDVMP4FZQHQ2YM}

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	2026-07-05T10:58:44.196201Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

060a0461ed52baf58eac7f0b981e1ac330200a7c82511bebba1fb3853f71e5f8

Aliases

arxiv: 2111.01963 · arxiv_version: 2111.01963v2 · doi: 10.48550/arxiv.2111.01963 · pith_short_12: AYFAIYPNKK5P · pith_short_16: AYFAIYPNKK5PLDVM · pith_short_8: AYFAIYPN

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/AYFAIYPNKK5PLDVMP4FZQHQ2YM \
  | 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: 060a0461ed52baf58eac7f0b981e1ac330200a7c82511bebba1fb3853f71e5f8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ca3cc17aa1e2e41e05862d48522955281fe3f49cf2d98b46e9de654d9f8b4a21",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-03T01:10:05Z",
    "title_canon_sha256": "a3f55cc00b41b699cd42e69584cc73c007df6e061cf3c3d4411ff44c55cb2b9e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.01963",
    "kind": "arxiv",
    "version": 2
  }
}