Pith Number

pith:EG2S7MZ7

pith:2026:EG2S7MZ7YSE5UNYEOS4SR734PL

not attested not anchored not stored refs pending

Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets

Cameron K. Peterson, John L. Salmon, Matthew D. Osburn

arxiv:2606.18516 v1 · 2026-06-16 · 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{EG2S7MZ7YSE5UNYEOS4SR734PL}

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	2026-06-19T16:11:39.292407Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

21b52fb33fc489da370474b928ff7c7afada6ee82e2ab49dce0d2ed4017bb13c

Aliases

arxiv: 2606.18516 · arxiv_version: 2606.18516v1 · doi: 10.48550/arxiv.2606.18516 · pith_short_12: EG2S7MZ7YSE5 · pith_short_16: EG2S7MZ7YSE5UNYE · pith_short_8: EG2S7MZ7

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/EG2S7MZ7YSE5UNYEOS4SR734PL \
  | 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: 21b52fb33fc489da370474b928ff7c7afada6ee82e2ab49dce0d2ed4017bb13c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c96a84f92fa505651c0fdaafac287c2848f4c74395b0a7678158cb59c287f1e8",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-16T22:14:15Z",
    "title_canon_sha256": "1e467fb6784969ab804bae38866b69125da63d04420c59286d443761feef1f1f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.18516",
    "kind": "arxiv",
    "version": 1
  }
}