Pith Number

pith:KXTOPCQ3

pith:2021:KXTOPCQ3H2OPKZMKB4G2BXD3RB

not attested not anchored not stored refs pending

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms

Boyu Zhou, Guotao Meng, Hao Xu, Luqi Wang, Shaojie Shen, Xinjie Yao, Yichen Zhang

arxiv:2103.04131 v5 · 2021-03-06 · 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{KXTOPCQ3H2OPKZMKB4G2BXD3RB}

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	2026-07-05T04:56:10.415368Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1

Aliases

arxiv: 2103.04131 · arxiv_version: 2103.04131v5 · doi: 10.48550/arxiv.2103.04131 · pith_short_12: KXTOPCQ3H2OP · pith_short_16: KXTOPCQ3H2OPKZMK · pith_short_8: KXTOPCQ3

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/KXTOPCQ3H2OPKZMKB4G2BXD3RB \
  | 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: 55e6e78a1b3e9cf5658a0f0da0dc7b8843bedec1f3bc0c49caafb283c622d5d1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7c729ed67d7d5be4f98709029d62656fd96b21ea55c87f440b8aef77dbdfec4e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-06T15:00:21Z",
    "title_canon_sha256": "036b6f5d82d6b72867d56fe808fa47e5062e7c189dbea757387079bc0ff17fd9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.04131",
    "kind": "arxiv",
    "version": 5
  }
}