Pith Number

pith:KQK5DWNZ

pith:2023:KQK5DWNZL2G7MU6PSEFARBPL6J

not attested not anchored not stored refs pending

Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration

Jeppe Heini Mikkelsen, Matteo Fumagalli

arxiv:2307.07326 v1 · 2023-07-14 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KQK5DWNZL2G7MU6PSEFARBPL6J}

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	2026-07-05T06:30:54.115719Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5415d1d9b95e8df653cf910a0885ebf270c8e5630633475357cb8dd0eb81d4b8

Aliases

arxiv: 2307.07326 · arxiv_version: 2307.07326v1 · doi: 10.48550/arxiv.2307.07326 · pith_short_12: KQK5DWNZL2G7 · pith_short_16: KQK5DWNZL2G7MU6P · pith_short_8: KQK5DWNZ

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/KQK5DWNZL2G7MU6PSEFARBPL6J \
  | 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: 5415d1d9b95e8df653cf910a0885ebf270c8e5630633475357cb8dd0eb81d4b8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b8ae49e096fe6793d724d650b859b9fa2ec143a4325efc9ae44bdd279b800136",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-07-14T13:03:57Z",
    "title_canon_sha256": "17726dc2e8d4e4a6803718b79cff4597a630b1e6cfa05a11c35ad6fc9026f696"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2307.07326",
    "kind": "arxiv",
    "version": 1
  }
}