Pith Number

pith:CVMLZEHC

pith:2021:CVMLZEHCLXWV3TCSU6NCY2GTB7

not attested not anchored not stored refs pending

Speed Planning Using Bezier Polynomials with Trapezoidal Corridors

Hengbo Ma, Jialun Li, Jianping He, Xiaojia Xie, Xiao Liu

arxiv:2104.11655 v1 · 2021-04-23 · 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{CVMLZEHCLXWV3TCSU6NCY2GTB7}

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	2026-07-05T02:34:34.450690Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1558bc90e25ded5dcc52a79a2c68d30ff005edb0ca170b41ac52e219dfe22603

Aliases

arxiv: 2104.11655 · arxiv_version: 2104.11655v1 · doi: 10.48550/arxiv.2104.11655 · pith_short_12: CVMLZEHCLXWV · pith_short_16: CVMLZEHCLXWV3TCS · pith_short_8: CVMLZEHC

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/CVMLZEHCLXWV3TCSU6NCY2GTB7 \
  | 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: 1558bc90e25ded5dcc52a79a2c68d30ff005edb0ca170b41ac52e219dfe22603

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b66361b5c467c8135857138c6e9b485c0133ca05e524c267743e3ac54853e3d0",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-23T15:09:49Z",
    "title_canon_sha256": "2ee8efea4e885110e93a15ce7512a4a4ee84c43ffdf3d06ac7ca92de3d6e304a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.11655",
    "kind": "arxiv",
    "version": 1
  }
}