Pith Number

pith:GKCZ2OLM

pith:2022:GKCZ2OLMPBHPYNEZ2RF6SB7OWJ

not attested not anchored not stored refs pending

Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers

Hyungyu Lee, Jaeyoung Lim, Naira Hovakimyan, Roland Siegwart, Sheng Cheng, Zhuohuan Wu

arxiv:2209.10024 v3 · 2022-09-20 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{GKCZ2OLMPBHPYNEZ2RF6SB7OWJ}

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	2026-07-05T09:55:51.005887Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

32859d396c784efc3499d44be907eeb242ec3406d90470a437cd05883862a17d

Aliases

arxiv: 2209.10024 · arxiv_version: 2209.10024v3 · doi: 10.48550/arxiv.2209.10024 · pith_short_12: GKCZ2OLMPBHP · pith_short_16: GKCZ2OLMPBHPYNEZ · pith_short_8: GKCZ2OLM

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/GKCZ2OLMPBHPYNEZ2RF6SB7OWJ \
  | 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: 32859d396c784efc3499d44be907eeb242ec3406d90470a437cd05883862a17d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2817739e42e63ebbd07d4b550f07137ed69176cf49fd03e7b56d8f3f487148ec",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-20T22:22:45Z",
    "title_canon_sha256": "bc0b7c5eafde15108f881cb965050f92c6faef34251839165db4dd9fba6c6966"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.10024",
    "kind": "arxiv",
    "version": 3
  }
}