Pith Number

pith:LGSMG3NK

pith:2019:LGSMG3NKXDGQI3DX6UXXNGEDLP

not attested not anchored not stored refs pending

Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions

Gennaro Notomista, Junya Yamauchi, Magnus Egerstedt, Xiaoyi Cai

arxiv:1904.04801 v2 · 2019-04-09 · eess.SY · cs.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{LGSMG3NKXDGQI3DX6UXXNGEDLP}

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	2026-06-04T20:14:24.197031Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

59a4c36daab8cd046c77f52f7698835bf29ec2ce1e34352bba94d2451803a169

Aliases

arxiv: 1904.04801 · arxiv_version: 1904.04801v2 · doi: 10.48550/arxiv.1904.04801 · pith_short_12: LGSMG3NKXDGQ · pith_short_16: LGSMG3NKXDGQI3DX · pith_short_8: LGSMG3NK

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/LGSMG3NKXDGQI3DX6UXXNGEDLP \
  | 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: 59a4c36daab8cd046c77f52f7698835bf29ec2ce1e34352bba94d2451803a169

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "030671ff0fc1904fb2041fa9c379bf791cdce777143706436e8fb3a812c31624",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2019-04-09T17:27:43Z",
    "title_canon_sha256": "6ab66ff2da1caa964a14861d0f4faf5b512f89b17be4463a6def5723906d7a94"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.04801",
    "kind": "arxiv",
    "version": 2
  }
}