Pith Number

pith:B4YXJ6AD

pith:2021:B4YXJ6ADRD3HEY5C3LET5FFMRQ

not attested not anchored not stored refs pending

Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving

Aditya Sharma, Anish Gupta, Arun K.Singh, Houman Masnavi, K Madhava Krishna, Vivek K. Adajania

arxiv:2109.10392 v2 · 2021-09-21 · 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{B4YXJ6ADRD3HEY5C3LET5FFMRQ}

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	2026-07-05T04:05:13.182691Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0f3174f80388f67263a2dac93e94ac8c10b5ec0a9cbba9faef3b5cfcb44287f6

Aliases

arxiv: 2109.10392 · arxiv_version: 2109.10392v2 · doi: 10.48550/arxiv.2109.10392 · pith_short_12: B4YXJ6ADRD3H · pith_short_16: B4YXJ6ADRD3HEY5C · pith_short_8: B4YXJ6AD

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/B4YXJ6ADRD3HEY5C3LET5FFMRQ \
  | 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: 0f3174f80388f67263a2dac93e94ac8c10b5ec0a9cbba9faef3b5cfcb44287f6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2d45b5223be2278cf160fa7382bade66319fd883b7292c9186571eee22aaa206",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-21T18:24:27Z",
    "title_canon_sha256": "134e21df90112c5d1a5f0b6e5c3a4e968e11c6705a7ee45b907a63372b09d0e7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.10392",
    "kind": "arxiv",
    "version": 2
  }
}