Pith Number

pith:KBSA3CDO

pith:2021:KBSA3CDOLAW5IGQWSGTCZLERX6

not attested not anchored not stored refs pending

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots

Christos Papachristos, Huan Nguyen, Kostas Alexis, Lionel Ott, Marco Hutter, Marco Tranzatto, Mihir Dharmadhikari, Mihir Kulkarni, Nikhil Khedekar, Paolo De Petris, Roland Siegwart, Samuel Zimmermann, Victor Reijgwart

arxiv:2111.06482 v2 · 2021-11-11 · 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{KBSA3CDOLAW5IGQWSGTCZLERX6}

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	2026-07-05T04:23:22.330510Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

50640d886e582dd41a1691a62cac91bfa56c1b14cf0317d8d575c1723ef056fb

Aliases

arxiv: 2111.06482 · arxiv_version: 2111.06482v2 · doi: 10.48550/arxiv.2111.06482 · pith_short_12: KBSA3CDOLAW5 · pith_short_16: KBSA3CDOLAW5IGQW · pith_short_8: KBSA3CDO

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/KBSA3CDOLAW5IGQWSGTCZLERX6 \
  | 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: 50640d886e582dd41a1691a62cac91bfa56c1b14cf0317d8d575c1723ef056fb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a71200f0aceabc2a2709fc8986b8aae0738c5d1034d5fc429e7da619f67cebc5",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-11T22:27:00Z",
    "title_canon_sha256": "636f917ad2ce3cf7526eb619411920dddf5b8ab1c8db8289cd1999d0fed18b3c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.06482",
    "kind": "arxiv",
    "version": 2
  }
}