Pith Number

pith:Q5RVX7EH

pith:2014:Q5RVX7EHECDKGOMKBCMXWWPN4V

not attested not anchored not stored refs pending

A robust trajectory tracking controller for four-wheel skid-steering mobile robots

2), 2) ((1) Sorbonne Universit\'es, (2) CNRS, Fa\"iz Benamar (1, France, France), Jae-Yun Jun (1, Minh-Duc Hua (1

arxiv:1404.4839 v2 · 2014-04-18 · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{Q5RVX7EHECDKGOMKBCMXWWPN4V}

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	2026-05-18T02:42:37.064906Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

87635bfc872086a3398a08997b59ede57827e0dcbb50cae27ec24b0eda3c9701

Aliases

arxiv: 1404.4839 · arxiv_version: 1404.4839v2 · doi: 10.48550/arxiv.1404.4839 · pith_short_12: Q5RVX7EHECDK · pith_short_16: Q5RVX7EHECDKGOMK · pith_short_8: Q5RVX7EH

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/Q5RVX7EHECDKGOMKBCMXWWPN4V \
  | 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: 87635bfc872086a3398a08997b59ede57827e0dcbb50cae27ec24b0eda3c9701

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a316eb13896a76b9d8bee6bd963069724e0bf081fe26c5aa92ce9cbc3fc09c57",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2014-04-18T16:56:19Z",
    "title_canon_sha256": "85522b72679fccb4ad67455a409aefefcb383473ca684d77e0dfa8a8eee84ef4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1404.4839",
    "kind": "arxiv",
    "version": 2
  }
}