Pith Number

pith:BQOUQISO

pith:2018:BQOUQISO2ERSMZRYIYMQ5WL4FC

not attested not anchored not stored refs pending

Nonlinear Unknown Input and State Estimation Algorithm in Mobile Robots

Hunmin Kim, Jun Xu, Minghui Zhu, Nurali Virani, Peng Liu, Pinyao Guo

arxiv:1804.02814 v1 · 2018-04-09 · cs.SY · 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{BQOUQISO2ERSMZRYIYMQ5WL4FC}

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	2026-05-18T00:18:48.577978Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0c1d48224ed12326663846190ed97c28a3b511ca74d3821178bee94561708479

Aliases

arxiv: 1804.02814 · arxiv_version: 1804.02814v1 · doi: 10.48550/arxiv.1804.02814 · pith_short_12: BQOUQISO2ERS · pith_short_16: BQOUQISO2ERSMZRY · pith_short_8: BQOUQISO

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/BQOUQISO2ERSMZRYIYMQ5WL4FC \
  | 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: 0c1d48224ed12326663846190ed97c28a3b511ca74d3821178bee94561708479

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cbc5c9d60b34c855260a8272e8aa4fd12896146395e14e6ad873555f14c88c69",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2018-04-09T04:54:33Z",
    "title_canon_sha256": "979f5dd65cc5043c8cf28df72a79fb2b75bcbb177da66403a40c7fb60a2e59c3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1804.02814",
    "kind": "arxiv",
    "version": 1
  }
}