Pith Number

pith:KL5PY3BV

pith:2013:KL5PY3BVNR4SHCUN4HOMLN3DQD

not attested not anchored not stored refs pending

A Nonlinear Constrained Optimization Framework for Comfortable and Customizable Motion Planning of Nonholonomic Mobile Robots - Part I

Benjamin Kuipers, Chetan Jhurani, Shilpa Gulati

arxiv:1305.5024 v1 · 2013-05-22 · cs.RO · cs.CE · math.NA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KL5PY3BVNR4SHCUN4HOMLN3DQD}

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	2026-05-18T03:25:13.741724Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

52fafc6c356c79238a8de1dcc5b76380caef5b2ba460e3625327973465a28418

Aliases

arxiv: 1305.5024 · arxiv_version: 1305.5024v1 · doi: 10.48550/arxiv.1305.5024 · pith_short_12: KL5PY3BVNR4S · pith_short_16: KL5PY3BVNR4SHCUN · pith_short_8: KL5PY3BV

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/KL5PY3BVNR4SHCUN4HOMLN3DQD \
  | 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: 52fafc6c356c79238a8de1dcc5b76380caef5b2ba460e3625327973465a28418

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ec4b0bceb6b62a69ea960cc53601b2a60fade56b535cfba7a6ba9417e8e71c32",
    "cross_cats_sorted": [
      "cs.CE",
      "math.NA"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2013-05-22T05:37:25Z",
    "title_canon_sha256": "866fb961a2e7f3a5753eee361f1604bb5aa8b7f7523eaa8e7432c4ca83a2a070"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1305.5024",
    "kind": "arxiv",
    "version": 1
  }
}