Pith Number

pith:BXRBJI5B

pith:2024:BXRBJI5BTHSSG5LY2PXY2AKDYF

not attested not anchored not stored refs pending

OGM-CBF: Occupancy Grid Map-based Control Barrier Function for Safe Mobile Robot Control with Memory of out of View Obstacles

Golnaz Raja, Milo\v{s} Pr\'agr, Reza Ghabcheloo, Teemu M\"okk\"onen, Topi Reino Johannes K\"arki

arxiv:2405.10703 v4 · 2024-05-17 · 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{BXRBJI5BTHSSG5LY2PXY2AKDYF}

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.

Cited by

2 papers in Pith

A Closed-Form Dual-Barrier CBF Safety Filter for Holonomic Robots on Incrementally Built Occupancy Grid Maps

Receipt and verification

First computed	2026-06-30T02:18:03.350393Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0de214a3a199e5237578d3ef8d0143c14a8cfd2374364b3a036e83a3a49a0df9

Aliases

arxiv: 2405.10703 · arxiv_version: 2405.10703v4 · doi: 10.48550/arxiv.2405.10703 · pith_short_12: BXRBJI5BTHSS · pith_short_16: BXRBJI5BTHSSG5LY · pith_short_8: BXRBJI5B

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/BXRBJI5BTHSSG5LY2PXY2AKDYF \
  | 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: 0de214a3a199e5237578d3ef8d0143c14a8cfd2374364b3a036e83a3a49a0df9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2802962547542548752dd9d0a2be153651e22a2c66f96648c7ed72ce6b3c44fa",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-05-17T11:22:36Z",
    "title_canon_sha256": "b88466099d904c6e3705c0652648e39b967757de57945a967b3f9b26fe1c6fd9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2405.10703",
    "kind": "arxiv",
    "version": 4
  }
}