Pith Number

pith:GAS4R2HU

pith:2021:GAS4R2HUXBH6WAGDREHOZWJWDK

not attested not anchored not stored refs pending

GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot

Alvo Aabloo, Arun Kumar Singh, Fatemeh Rastgar, Houman Masnavi, Karl Kruusam\"ae

arxiv:2109.13030 v1 · 2021-09-27 · 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{GAS4R2HUXBH6WAGDREHOZWJWDK}

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	2026-07-05T03:17:40.647414Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3025c8e8f4b84feb00c3890eecd9361a85abc88c633dae7e90bf95066da1ac0d

Aliases

arxiv: 2109.13030 · arxiv_version: 2109.13030v1 · doi: 10.48550/arxiv.2109.13030 · pith_short_12: GAS4R2HUXBH6 · pith_short_16: GAS4R2HUXBH6WAGD · pith_short_8: GAS4R2HU

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/GAS4R2HUXBH6WAGDREHOZWJWDK \
  | 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: 3025c8e8f4b84feb00c3890eecd9361a85abc88c633dae7e90bf95066da1ac0d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f9001670c9f7a4eb44f6ca20dc72c9a89ab1b6143067f87d1a6a1de80d5ac354",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-27T13:08:40Z",
    "title_canon_sha256": "c417c7ddeff16800ce5184284e00712cc627e240257fdec04c3eacec8e086d3f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.13030",
    "kind": "arxiv",
    "version": 1
  }
}