Pith Number

pith:K2BEHKKJ

pith:2019:K2BEHKKJDAYT76CEEUWITUZC2U

not attested not anchored not stored refs pending

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

Benjamin Ramtoula, Giovanni Beltrame, Luca Carlone, Pierre-Yves Lajoie, Yun Chang

arxiv:1909.12198 v2 · 2019-09-26 · 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{K2BEHKKJDAYT76CEEUWITUZC2U}

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.

Cited by

1 paper in Pith

MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality

Receipt and verification

First computed	2026-07-05T03:07:02.375539Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

568243a94918313ff844252c89d322d50f8db7f322e5b2945f34cfa2a769a64a

Aliases

arxiv: 1909.12198 · arxiv_version: 1909.12198v2 · doi: 10.48550/arxiv.1909.12198 · pith_short_12: K2BEHKKJDAYT · pith_short_16: K2BEHKKJDAYT76CE · pith_short_8: K2BEHKKJ

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/K2BEHKKJDAYT76CEEUWITUZC2U \
  | 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: 568243a94918313ff844252c89d322d50f8db7f322e5b2945f34cfa2a769a64a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fb568be7206879736f73cbb9526248bef657fb4593e31cc18278f214cfd971a3",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-26T15:41:41Z",
    "title_canon_sha256": "cc8594f96a142543a1ac93abcffaa49fb92f5278c36ddfeb8eab2eabed72135c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.12198",
    "kind": "arxiv",
    "version": 2
  }
}