Pith Number

pith:L3K5AT24

pith:2021:L3K5AT24READ2N6VA7Y6VAP3OB

not attested not anchored not stored refs pending

Grounding-aware RRT* for Path Planning and Safe Navigation of Marine Crafts in Confined Waters

Roberto Galeazzi, Thomas T. Enevoldsen

arxiv:2109.06967 v1 · 2021-09-14 · cs.RO · cs.SI · 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{L3K5AT24READ2N6VA7Y6VAP3OB}

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	2026-07-05T03:28:40.992267Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5ed5d04f5c89003d37d507f1ea81fb70704bb0007907872141b6d51f5bcdab9d

Aliases

arxiv: 2109.06967 · arxiv_version: 2109.06967v1 · doi: 10.48550/arxiv.2109.06967 · pith_short_12: L3K5AT24READ · pith_short_16: L3K5AT24READ2N6V · pith_short_8: L3K5AT24

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/L3K5AT24READ2N6VA7Y6VAP3OB \
  | 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: 5ed5d04f5c89003d37d507f1ea81fb70704bb0007907872141b6d51f5bcdab9d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2f1e18dec06b76485d24cebfc40379dda43d7584e427046c63680564330cd89d",
    "cross_cats_sorted": [
      "cs.SI",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-14T20:53:18Z",
    "title_canon_sha256": "ede3d84835c986510724fb146be14f5e29d6f60dd3c887a053f2dd392bb971de"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.06967",
    "kind": "arxiv",
    "version": 1
  }
}