Pith Number

pith:L5ZLPQQU

pith:2021:L5ZLPQQUZ64MKCZJIXTT4VNJKF

not attested not anchored not stored refs pending

Robust Motion Planning in the Presence of Estimation Uncertainty

George J. Pappas, Lars Lindemann, Matthew Cleaveland, Yiannis Kantaros

arxiv:2108.11983 v1 · 2021-08-26 · 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{L5ZLPQQUZ64MKCZJIXTT4VNJKF}

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	2026-07-05T03:09:20.448533Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5f72b7c214cfb8c50b2945e73e55a9515b064c017ff12602d18852f291463f9a

Aliases

arxiv: 2108.11983 · arxiv_version: 2108.11983v1 · doi: 10.48550/arxiv.2108.11983 · pith_short_12: L5ZLPQQUZ64M · pith_short_16: L5ZLPQQUZ64MKCZJ · pith_short_8: L5ZLPQQU

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/L5ZLPQQUZ64MKCZJIXTT4VNJKF \
  | 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: 5f72b7c214cfb8c50b2945e73e55a9515b064c017ff12602d18852f291463f9a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "605f7e49a03226ec5f76a9631e297e91c3020a3814390b7d443133b63b8db799",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-26T18:26:39Z",
    "title_canon_sha256": "36d39ac8eff2dc0c2b5655e777d9aa71aa682614b2492581f05a45ae727d74ef"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.11983",
    "kind": "arxiv",
    "version": 1
  }
}