Pith Number

pith:PP7UU2OV

pith:2019:PP7UU2OVC2IYESRQMJX6DEXECA

not attested not anchored not stored refs pending

A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments

David G\'omez-Guti\'errez, Jos\'e I. Parra-Vilchis, Leobardo Campos-Mac\'ias, Rafael de la Guardia, Rodrigo Aldana-L\'opez

arxiv:1908.08493 v1 · 2019-08-22 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{PP7UU2OVC2IYESRQMJX6DEXECA}

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	2026-07-04T23:59:13.385407Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7bff4a69d51691824a30626fe192e410279042a498f547049e0e903c20f309e7

Aliases

arxiv: 1908.08493 · arxiv_version: 1908.08493v1 · doi: 10.48550/arxiv.1908.08493 · pith_short_12: PP7UU2OVC2IY · pith_short_16: PP7UU2OVC2IYESRQ · pith_short_8: PP7UU2OV

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/PP7UU2OVC2IYESRQMJX6DEXECA \
  | 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: 7bff4a69d51691824a30626fe192e410279042a498f547049e0e903c20f309e7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "92d6a6306944ac03b9a6a4d700ebd5795afd715eb8d08d99dce960bea6df48d3",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-08-22T16:58:06Z",
    "title_canon_sha256": "ce1d1bd1d1edf275429260a96757dcc59a307441e2c6406c588835b2f0d112b4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1908.08493",
    "kind": "arxiv",
    "version": 1
  }
}