Pith Number

pith:OK6NBQ5H

pith:2019:OK6NBQ5HMYZDLGT2RTHF6KRVG7

not attested not anchored not stored refs pending

Online Risk-Bounded Motion Planning for Autonomous Vehicles in Dynamic Environments

Andreas Hofmann, Brian C. Williams, Sungkweon Hong, Xin Huang

arxiv:1904.02341 v1 · 2019-04-04 · cs.RO · cs.AI · 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{OK6NBQ5HMYZDLGT2RTHF6KRVG7}

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	2026-05-17T23:49:23.913718Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

72bcd0c3a76632359a7a8cce5f2a3537c90344990876b53bb854db1f463c13f1

Aliases

arxiv: 1904.02341 · arxiv_version: 1904.02341v1 · doi: 10.48550/arxiv.1904.02341 · pith_short_12: OK6NBQ5HMYZD · pith_short_16: OK6NBQ5HMYZDLGT2 · pith_short_8: OK6NBQ5H

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/OK6NBQ5HMYZDLGT2RTHF6KRVG7 \
  | 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: 72bcd0c3a76632359a7a8cce5f2a3537c90344990876b53bb854db1f463c13f1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3a6c5e817fa47fbe94352668a969328321d62eb6c43730e80e09ffa03c47b42a",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-04T04:19:38Z",
    "title_canon_sha256": "dff4d0284623d3ff3d7863ca1d7b2c890792703a3892a011d237fde49d498b88"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.02341",
    "kind": "arxiv",
    "version": 1
  }
}