Pith Number

pith:FL3LB3A3

pith:2013:FL3LB3A3WLPRJZ7HU3FG3F7TTC

not attested not anchored not stored refs pending

Geometric Nonlinear PID Control of a Quadrotor UAV on SE(3)

Daewon Lee, Farhad Goodarzi, Taeyoung Lee

arxiv:1304.6765 v1 · 2013-04-24 · 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{FL3LB3A3WLPRJZ7HU3FG3F7TTC}

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	2026-05-18T03:27:11.926924Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2af6b0ec1bb2df14e7e7a6ca6d97f3988bd16a48c369fc0d9b485c95e9dfe2f1

Aliases

arxiv: 1304.6765 · arxiv_version: 1304.6765v1 · doi: 10.48550/arxiv.1304.6765 · pith_short_12: FL3LB3A3WLPR · pith_short_16: FL3LB3A3WLPRJZ7H · pith_short_8: FL3LB3A3

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/FL3LB3A3WLPRJZ7HU3FG3F7TTC \
  | 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: 2af6b0ec1bb2df14e7e7a6ca6d97f3988bd16a48c369fc0d9b485c95e9dfe2f1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3ddc7050ea6bdb63bd588269a50b259ef418c8f9c87e86207d7477e15f2c8b2c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2013-04-24T22:01:12Z",
    "title_canon_sha256": "22f41a9b5eaff459c51ab9c51adac714029275b53032492d8d736e8bd50e9d6b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1304.6765",
    "kind": "arxiv",
    "version": 1
  }
}