Pith Number

pith:GKCY6HVU

pith:2020:GKCY6HVU5L4GXP4AO2I73CT6E6

not attested not anchored not stored refs pending

Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle

Juan Nieto, Karen Bodie, Maximilian Brunner, Michael Pantic, Patrick Pf\"andler, Roland Siegwart, Stefan Walser, Ueli Angst

arxiv:2003.09516 v3 · 2020-03-20 · 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{GKCY6HVU5L4GXP4AO2I73CT6E6}

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	2026-07-05T02:04:26.822619Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

32858f1eb4eaf86bbf807691fd8a7e27b3ae4c6d0d591d3a118d7ad30a89ce9c

Aliases

arxiv: 2003.09516 · arxiv_version: 2003.09516v3 · doi: 10.48550/arxiv.2003.09516 · pith_short_12: GKCY6HVU5L4G · pith_short_16: GKCY6HVU5L4GXP4A · pith_short_8: GKCY6HVU

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/GKCY6HVU5L4GXP4AO2I73CT6E6 \
  | 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: 32858f1eb4eaf86bbf807691fd8a7e27b3ae4c6d0d591d3a118d7ad30a89ce9c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "66bc5e5f182863771621083e20082bae472ce3d4812bf465eae01785b0081ff4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-03-20T22:15:50Z",
    "title_canon_sha256": "73723cf2d84c3479da5adf597ea159e4b3ace10cfb903aa409bfd881deae4efc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2003.09516",
    "kind": "arxiv",
    "version": 3
  }
}