Pith Number

pith:KH3QG6LP

pith:2019:KH3QG6LPLYFIBEQIJ43MBV7XN6

not attested not anchored not stored refs pending

Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators

Andreas Muller, Andrei Ahonen, Arun Kumar Singh, Reza Ghabcheloo

arxiv:1904.09780 v1 · 2019-04-22 · cs.RO · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KH3QG6LPLYFIBEQIJ43MBV7XN6}

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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	2026-05-17T23:48:03.361356Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8

Aliases

arxiv: 1904.09780 · arxiv_version: 1904.09780v1 · doi: 10.48550/arxiv.1904.09780 · pith_short_12: KH3QG6LPLYFI · pith_short_16: KH3QG6LPLYFIBEQI · pith_short_8: KH3QG6LP

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/KH3QG6LPLYFIBEQIJ43MBV7XN6 \
  | 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: 51f703796f5e0a8092084f36c0d7f76f9015a6786514917aebaa4c1fe415d0f8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9da8b55d36146ed0b6f08aee8a2c911c195cd128952c9bab3abcdce55294a3b8",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-22T09:15:45Z",
    "title_canon_sha256": "c55185510afc393927892ae31342bf75da4055e00fcc1b66f53ac21372f3a768"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.09780",
    "kind": "arxiv",
    "version": 1
  }
}