Pith Number

pith:KPOK7KBM

pith:2021:KPOK7KBM7SIR7C44ROJQMOKILP

not attested not anchored not stored refs pending

Linear Differential Games for Cooperative Behavior Planning of Autonomous Vehicles Using Mixed-Integer Programming

Alois Knoll, Klemens Esterle, Tobias Kessler

arxiv:2109.15122 v1 · 2021-09-30 · cs.RO · cs.MA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KPOK7KBM7SIR7C44ROJQMOKILP}

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	2026-07-05T03:18:55.634710Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b

Aliases

arxiv: 2109.15122 · arxiv_version: 2109.15122v1 · doi: 10.48550/arxiv.2109.15122 · pith_short_12: KPOK7KBM7SIR · pith_short_16: KPOK7KBM7SIR7C44 · pith_short_8: KPOK7KBM

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/KPOK7KBM7SIR7C44ROJQMOKILP \
  | 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: 53dcafa82cfc911f8b9c8b930639485bedd07eb0ae20d57c00de8c384edcec4b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2331bd126a37d4ef9964667285d1ca346a7baa39da84027859d1748dd9a1c339",
    "cross_cats_sorted": [
      "cs.MA"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-30T13:33:03Z",
    "title_canon_sha256": "bf800b5a6946e13b279c2e359fdbd30ad4325543393fd6498266f205bd435f60"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.15122",
    "kind": "arxiv",
    "version": 1
  }
}