Pith Number

pith:HQ6ZCBJ5

pith:2019:HQ6ZCBJ53H5D3BR663RIPQ75WU

not attested not anchored not stored refs pending

Improved Path Planning by Tightly Combining Lattice-based Path Planning and Numerical Optimal Control

Daniel Axehill, Kristoffer Bergman, Oskar Ljungqvist

arxiv:1903.07900 v2 · 2019-03-19 · 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{HQ6ZCBJ53H5D3BR663RIPQ75WU}

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	2026-05-17T23:50:33.099721Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3c3d91053dd9fa3d863ef6e287c3fdb5293e350bab29fcb06efac772ab3e7ce2

Aliases

arxiv: 1903.07900 · arxiv_version: 1903.07900v2 · doi: 10.48550/arxiv.1903.07900 · pith_short_12: HQ6ZCBJ53H5D · pith_short_16: HQ6ZCBJ53H5D3BR6 · pith_short_8: HQ6ZCBJ5

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/HQ6ZCBJ53H5D3BR663RIPQ75WU \
  | 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: 3c3d91053dd9fa3d863ef6e287c3fdb5293e350bab29fcb06efac772ab3e7ce2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bef67c3549fdc8a2cceb48faf03aada252206dc99eb6ba6a90e952aca0601f6c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2019-03-19T09:35:20Z",
    "title_canon_sha256": "1152ad6e078b95078eb7806abd0a046364b3c66795b1a2d896eb213343e3cd9b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1903.07900",
    "kind": "arxiv",
    "version": 2
  }
}