Pith Number

pith:J3OV2NFW

pith:2020:J3OV2NFWE4PU32LNXRKK3LUZ3T

not attested not anchored not stored refs pending

A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty

Ali-akbar Agha-mohammadi, Bjorn Lindqvist, Christoforos Kanellakis, Farhad Pourkamali-Anaraki, George Nikolakopoulos, Joel Burdick, Sina Sharif Mansouri

arxiv:2007.15879 v1 · 2020-07-31 · 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{J3OV2NFWE4PU32LNXRKK3LUZ3T}

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	2026-07-05T01:23:39.379368Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4edd5d34b6271f4de96dbc54adae99dcdd5914f4af496bd8c6f2efe56ab1c59c

Aliases

arxiv: 2007.15879 · arxiv_version: 2007.15879v1 · doi: 10.48550/arxiv.2007.15879 · pith_short_12: J3OV2NFWE4PU · pith_short_16: J3OV2NFWE4PU32LN · pith_short_8: J3OV2NFW

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/J3OV2NFWE4PU32LNXRKK3LUZ3T \
  | 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: 4edd5d34b6271f4de96dbc54adae99dcdd5914f4af496bd8c6f2efe56ab1c59c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c0f7d3de7042862a1620db3e6b3b76352e66e1b19a231eae5d5428d7a4c4ce5a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-07-31T07:26:49Z",
    "title_canon_sha256": "56eace90a4b6e1f35045d9bf848bb5ae29d337b476082a8aad05ad8680fb55ef"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2007.15879",
    "kind": "arxiv",
    "version": 1
  }
}