Pith Number

pith:CSVTZTBT

pith:2019:CSVTZTBTXHOW2IHPTZFPD6HVJS

not attested not anchored not stored refs pending

Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing in Local Coordinates

Alcherio Martinoli, I. Kagan Erunsal, Rodrigo Ventura

arxiv:1904.03742 v1 · 2019-04-07 · 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{CSVTZTBTXHOW2IHPTZFPD6HVJS}

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	2026-05-17T23:49:08.273030Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

14ab3ccc33b9dd6d20ef9e4af1f8f54c9fefab41bf70da90cdcd2f556113d03f

Aliases

arxiv: 1904.03742 · arxiv_version: 1904.03742v1 · doi: 10.48550/arxiv.1904.03742 · pith_short_12: CSVTZTBTXHOW · pith_short_16: CSVTZTBTXHOW2IHP · pith_short_8: CSVTZTBT

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/CSVTZTBTXHOW2IHPTZFPD6HVJS \
  | 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: 14ab3ccc33b9dd6d20ef9e4af1f8f54c9fefab41bf70da90cdcd2f556113d03f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1eda61963bf09b9f1a16cd0dd4c1d7f7ec8965f79f1d7bc7048e4131352eb5eb",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2019-04-07T21:03:18Z",
    "title_canon_sha256": "0c85d4e547ce278e8d4e1dd3fc8f4bc6b4e96af520c51e8715fea2dd4fbab4b5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.03742",
    "kind": "arxiv",
    "version": 1
  }
}