Pith Number

pith:DDPPKDFH

pith:2026:DDPPKDFHTSOUUTOSQQPMRW6K4K

not attested not anchored not stored refs pending

A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance

Adeel Akhtar, Hamza Tariq, Usman Ali

arxiv:2606.23355 v1 · 2026-06-22 · cs.RO · cs.SY · eess.SY · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{DDPPKDFHTSOUUTOSQQPMRW6K4K}

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	2026-06-23T03:14:17.628280Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

18def50ca79c9d4a4dd2841ec8dbcae2b322e143f71ad5ad59969e2817add13f

Aliases

arxiv: 2606.23355 · arxiv_version: 2606.23355v1 · doi: 10.48550/arxiv.2606.23355 · pith_short_12: DDPPKDFHTSOU · pith_short_16: DDPPKDFHTSOUUTOS · pith_short_8: DDPPKDFH

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/DDPPKDFHTSOUUTOSQQPMRW6K4K \
  | 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: 18def50ca79c9d4a4dd2841ec8dbcae2b322e143f71ad5ad59969e2817add13f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "98736aff0b8f12a48f0486c6963018a37ea3e0ab160279794956d708277d5b42",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-22T13:55:21Z",
    "title_canon_sha256": "b32f043fa5e298feb6924f19529d53f1dacc06861525da52bdb5f14e2476813f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.23355",
    "kind": "arxiv",
    "version": 1
  }
}