Pith Number

pith:NCWS347Z

pith:2023:NCWS347Z2TPX7SCUHTKBE47XYN

not attested not anchored not stored refs pending

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

Ashkan Jasour, Maani Ghaffari, Ram Vasudevan, Sangli Teng

arxiv:2305.13565 v1 · 2023-05-23 · 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{NCWS347Z2TPX7SCUHTKBE47XYN}

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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.

Cited by

1 paper in Pith

One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms

Receipt and verification

First computed	2026-07-05T06:12:54.319715Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

68ad2df3f9d4df7fc8543cd41273f7c35d4a87659c85732963b4ae658d7f5807

Aliases

arxiv: 2305.13565 · arxiv_version: 2305.13565v1 · doi: 10.48550/arxiv.2305.13565 · pith_short_12: NCWS347Z2TPX · pith_short_16: NCWS347Z2TPX7SCU · pith_short_8: NCWS347Z

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/NCWS347Z2TPX7SCUHTKBE47XYN \
  | 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: 68ad2df3f9d4df7fc8543cd41273f7c35d4a87659c85732963b4ae658d7f5807

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e024e68201d7059a4ef73736164b45bc738e9a329fb0139bd25fbf420060fddb",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-05-23T00:42:17Z",
    "title_canon_sha256": "c9f93050e41e67b3f117616cc4ab9b9fc70a92de018d7042d9962dc053d4e410"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2305.13565",
    "kind": "arxiv",
    "version": 1
  }
}