Pith Number

pith:I5CWAZQN

pith:2016:I5CWAZQNFGT6FDHB4VVA7PMUUK

not attested not anchored not stored refs pending

A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles

Brian Paden, Dmitry Yershov, Emilio Frazzoli, Michal Cap, Sze Zheng Yong

arxiv:1604.07446 v1 · 2016-04-25 · 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{I5CWAZQNFGT6FDHB4VVA7PMUUK}

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	2026-05-18T01:16:19.764521Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

474560660d29a7e28ce1e56a0fbd94a29eb085ba6e1613e9d439b8aca14b7f4e

Aliases

arxiv: 1604.07446 · arxiv_version: 1604.07446v1 · doi: 10.48550/arxiv.1604.07446 · pith_short_12: I5CWAZQNFGT6 · pith_short_16: I5CWAZQNFGT6FDHB · pith_short_8: I5CWAZQN

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/I5CWAZQNFGT6FDHB4VVA7PMUUK \
  | 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: 474560660d29a7e28ce1e56a0fbd94a29eb085ba6e1613e9d439b8aca14b7f4e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5fb25ac660731984783a157350ea19c70b8b44e078c65f8550a1d2e7cff481a2",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-04-25T20:59:47Z",
    "title_canon_sha256": "f329600986bfe258104c220f6e5dd9e0498c3de50b0a710166c7bf9b8d32b6b9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1604.07446",
    "kind": "arxiv",
    "version": 1
  }
}