Pith Number

pith:BNZPH2Z2

pith:2022:BNZPH2Z2XXRR5DLMPMN3AQUEEZ

not attested not anchored not stored refs pending

Mobile Robot Navigation in Complex Polygonal Workspaces Using Conformal Navigation Transformations

Jianchang Liu, Li Fan

arxiv:2208.09635 v1 · 2022-08-20 · 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{BNZPH2Z2XXRR5DLMPMN3AQUEEZ}

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	2026-07-05T04:50:20.300620Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0b72f3eb3abde31e8d6c7b1bb04284267966a1e751024af355faf72f50ed21bb

Aliases

arxiv: 2208.09635 · arxiv_version: 2208.09635v1 · doi: 10.48550/arxiv.2208.09635 · pith_short_12: BNZPH2Z2XXRR · pith_short_16: BNZPH2Z2XXRR5DLM · pith_short_8: BNZPH2Z2

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/BNZPH2Z2XXRR5DLMPMN3AQUEEZ \
  | 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: 0b72f3eb3abde31e8d6c7b1bb04284267966a1e751024af355faf72f50ed21bb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b143e394b3a0365a0c0e2cab747279e5c0d59a7220cf8453e6c60ab089aba327",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-08-20T08:29:49Z",
    "title_canon_sha256": "26cd1f02299150dab0c281c19dff64901a8726acfbc1bf4da677c9a4af7d5c27"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2208.09635",
    "kind": "arxiv",
    "version": 1
  }
}