Pith Number

pith:K3BFEBHR

pith:2023:K3BFEBHRZ2KJSS6TXLOFPLGPQO

not attested not anchored not stored refs pending

GVD-Exploration: An Efficient Autonomous Robot Exploration Framework Based on Fast Generalized Voronoi Diagram Extraction

Anxing Xiao, Dingfeng Chen, Jiankun Wang, Lining Sun, Meiyuan Zou, Wenzheng Chi

arxiv:2309.06041 v1 · 2023-09-12 · 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{K3BFEBHRZ2KJSS6TXLOFPLGPQO}

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	2026-07-05T06:49:50.274736Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

56c25204f1ce94994bd3badc57accf838d8d93affaa5044e9fe11c8ccecb7d5e

Aliases

arxiv: 2309.06041 · arxiv_version: 2309.06041v1 · doi: 10.48550/arxiv.2309.06041 · pith_short_12: K3BFEBHRZ2KJ · pith_short_16: K3BFEBHRZ2KJSS6T · pith_short_8: K3BFEBHR

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/K3BFEBHRZ2KJSS6TXLOFPLGPQO \
  | 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: 56c25204f1ce94994bd3badc57accf838d8d93affaa5044e9fe11c8ccecb7d5e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c3437093fc8fa8024051c660fe9b753c1c994969064afd00867bf3c41eba7318",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-12T08:22:43Z",
    "title_canon_sha256": "25ddd4f0bcdfdca4a2c511283b16628aab6bcb9694c22c21f4de810ee6532765"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.06041",
    "kind": "arxiv",
    "version": 1
  }
}