Pith Number

pith:KZZRZUDJ

pith:2021:KZZRZUDJM47PNPNFY5SLJCPK3K

not attested not anchored not stored refs pending

Guaranteed Rejection-free Sampling Method Using Past Behaviours for Motion Planning of Autonomous Systems

Roberto Galeazzi, Thomas T. Enevoldsen

arxiv:2109.14687 v3 · 2021-09-29 · 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{KZZRZUDJM47PNPNFY5SLJCPK3K}

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	2026-07-05T11:02:57.534014Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

56731cd069673ef6bda5c764b489eada933298c492a2047c7b5c6e38f42c441f

Aliases

arxiv: 2109.14687 · arxiv_version: 2109.14687v3 · doi: 10.48550/arxiv.2109.14687 · pith_short_12: KZZRZUDJM47P · pith_short_16: KZZRZUDJM47PNPNF · pith_short_8: KZZRZUDJ

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/KZZRZUDJM47PNPNFY5SLJCPK3K \
  | 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: 56731cd069673ef6bda5c764b489eada933298c492a2047c7b5c6e38f42c441f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bc41598b90f2c5a8e8e866b83ab22168813306641f495ad7b6362d55ce63fc32",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-29T19:47:40Z",
    "title_canon_sha256": "a8584eb56a6bd4b700abd17408fcfe4e1d1df98e390694dbf994a541fdd13e8a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.14687",
    "kind": "arxiv",
    "version": 3
  }
}