Pith Number

pith:NDAHWFJM

pith:2022:NDAHWFJM4KKUZFL3TSVA74XNBA

not attested not anchored not stored refs pending

Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

Angelo Caregnato-Neto, Marcos Ricardo Omena de Albuquerque Maximo, Rubens Junqueira Magalh\~aes Afonso

arxiv:2206.00097 v1 · 2022-05-31 · 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{NDAHWFJM4KKUZFL3TSVA74XNBA}

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	2026-07-05T06:25:04.175669Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

68c07b152ce2954c957b9caa0ff2ed080435fa18d6ddffaa7097153978cd2aa8

Aliases

arxiv: 2206.00097 · arxiv_version: 2206.00097v1 · doi: 10.48550/arxiv.2206.00097 · pith_short_12: NDAHWFJM4KKU · pith_short_16: NDAHWFJM4KKUZFL3 · pith_short_8: NDAHWFJM

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/NDAHWFJM4KKUZFL3TSVA74XNBA \
  | 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: 68c07b152ce2954c957b9caa0ff2ed080435fa18d6ddffaa7097153978cd2aa8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b9afefad5bae65d1cc14d51352338baa3a844b3c5d07461a87d36eefe496c833",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-05-31T20:14:43Z",
    "title_canon_sha256": "03a4bdd4872cc99c215bbdf21e0a10fad34ff5aeaa7de3ea42a7207f174d1eac"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2206.00097",
    "kind": "arxiv",
    "version": 1
  }
}