Pith Number

pith:IYC2O7OX

pith:2026:IYC2O7OXI7R7CFWXJBZUJKNZ3I

not attested not anchored not stored refs pending

Optimization-based Safe Trajectory Planning for Autonomous Ground Vehicle in Multi-Floor Scenarios

Kaiyuan Chen, Runda Zhang, Runqi Chai, Senchun Chai, Yuanqing Xia, Zishang Xiang

arxiv:2606.24631 v1 · 2026-06-23 · 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{IYC2O7OXI7R7CFWXJBZUJKNZ3I}

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	2026-06-24T01:15:37.621530Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4605a77dd747e3f116d7487344a9b9da22c8db37eb48b7d58dc1a2359b3660c6

Aliases

arxiv: 2606.24631 · arxiv_version: 2606.24631v1 · doi: 10.48550/arxiv.2606.24631 · pith_short_12: IYC2O7OXI7R7 · pith_short_16: IYC2O7OXI7R7CFWX · pith_short_8: IYC2O7OX

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/IYC2O7OXI7R7CFWXJBZUJKNZ3I \
  | 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: 4605a77dd747e3f116d7487344a9b9da22c8db37eb48b7d58dc1a2359b3660c6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "921c235684598def62215aa5db7d35a21a3e52c11d6b486fc672b8d2c3726401",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-23T14:26:22Z",
    "title_canon_sha256": "66dd2b36b67092e245a78ce935efe73e713d9bfa3c790b5e0b91de9cca624f99"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.24631",
    "kind": "arxiv",
    "version": 1
  }
}