Pith Number

pith:DESOJ7NN

pith:2021:DESOJ7NNC76WWFUHVGE2OZA63T

not attested not anchored not stored refs pending

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Claire J. Tomlin, Haimin Hu, Jaime F. Fisac, Mo Chen, Somil Bansal, SooJean Han, Sylvia L. Herbert, Ye Pu

arxiv:2102.07039 v2 · 2021-02-14 · cs.RO · 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{DESOJ7NNC76WWFUHVGE2OZA63T}

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	2026-07-05T02:22:41.035702Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1924e4fdad17fd6b1687a989a7641edcf25774326fdf764682cc0c2707811b98

Aliases

arxiv: 2102.07039 · arxiv_version: 2102.07039v2 · doi: 10.48550/arxiv.2102.07039 · pith_short_12: DESOJ7NNC76W · pith_short_16: DESOJ7NNC76WWFUH · pith_short_8: DESOJ7NN

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/DESOJ7NNC76WWFUHVGE2OZA63T \
  | 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: 1924e4fdad17fd6b1687a989a7641edcf25774326fdf764682cc0c2707811b98

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5b9647b329a80542b0665a36d00433fe07be91e84d382485d93c688c47a49dc9",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-14T00:40:44Z",
    "title_canon_sha256": "624c8b91c684824333666c8032e81ce64be60fb38ddc4a16e5b0e037b6564799"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.07039",
    "kind": "arxiv",
    "version": 2
  }
}