Pith Number

pith:LPEPKU65

pith:2017:LPEPKU652XCCIQO24SKQDYYSDW

not attested not anchored not stored refs pending

Position and Orientation Based Formation Control of Multiple Rigid Bodies with Collision Avoidance and Connectivity Maintenance

Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas

arxiv:1703.08217 v3 · 2017-03-23 · 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{LPEPKU652XCCIQO24SKQDYYSDW}

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	2026-05-18T00:28:40.998860Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5bc8f553ddd5c42441dae49501e3121d817e39563bde5f5c3a19e3e8602d5f3b

Aliases

arxiv: 1703.08217 · arxiv_version: 1703.08217v3 · doi: 10.48550/arxiv.1703.08217 · pith_short_12: LPEPKU652XCC · pith_short_16: LPEPKU652XCCIQO2 · pith_short_8: LPEPKU65

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/LPEPKU652XCCIQO24SKQDYYSDW \
  | 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: 5bc8f553ddd5c42441dae49501e3121d817e39563bde5f5c3a19e3e8602d5f3b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c2293a2246053f274b6b95b51a3cff2577ddbfaf8df2f9033bb3cda6ee6bfeb0",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2017-03-23T19:54:23Z",
    "title_canon_sha256": "4ccf97c70b87cc93af97a32b488817b4c17a8bb70a574645498c1d003aea6085"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1703.08217",
    "kind": "arxiv",
    "version": 3
  }
}