Pith Number

pith:KQNDX7BH

pith:2026:KQNDX7BHZ7NYYELEMMFPBWIPCP

not attested not anchored not stored refs pending

Robust Integrated Planning and Control for Quadrotors in Dynamic Environments via NMPC with CBF Penalties

Mohammadreza Izadi, Reza Faieghi, Zeinab Shayan

arxiv:2606.01038 v1 · 2026-05-31 · 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{KQNDX7BHZ7NYYELEMMFPBWIPCP}

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	2026-06-02T01:04:19.203049Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

541a3bfc27cfdb8c1164630af0d90f13dd219babcaaeec8c951117778ac412a0

Aliases

arxiv: 2606.01038 · arxiv_version: 2606.01038v1 · doi: 10.48550/arxiv.2606.01038 · pith_short_12: KQNDX7BHZ7NY · pith_short_16: KQNDX7BHZ7NYYELE · pith_short_8: KQNDX7BH

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/KQNDX7BHZ7NYYELEMMFPBWIPCP \
  | 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: 541a3bfc27cfdb8c1164630af0d90f13dd219babcaaeec8c951117778ac412a0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b5af1bdce86e67537350f84edb2a53cbf4b9e62d2e34f706ccbcffd096826810",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-31T06:08:05Z",
    "title_canon_sha256": "5ef77b3b31401b44ab8acd50c244cfa5ced3784a819ec0e560b30d70879f875d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.01038",
    "kind": "arxiv",
    "version": 1
  }
}