Pith Number

pith:QBDR45JX

pith:2017:QBDR45JXAUQHANVL7BEDBCF2ZQ

not attested not anchored not stored refs pending

Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups

Taosha Fan, Todd Murphey

arxiv:1709.00376 v1 · 2017-08-31 · math.OC · 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{QBDR45JXAUQHANVL7BEDBCF2ZQ}

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	2026-05-18T00:36:10.507593Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

80471e753705207036abf8483088bacc19f172c3c273211d91ef8b5130517e4a

Aliases

arxiv: 1709.00376 · arxiv_version: 1709.00376v1 · doi: 10.48550/arxiv.1709.00376 · pith_short_12: QBDR45JXAUQH · pith_short_16: QBDR45JXAUQHANVL · pith_short_8: QBDR45JX

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/QBDR45JXAUQHANVL7BEDBCF2ZQ \
  | 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: 80471e753705207036abf8483088bacc19f172c3c273211d91ef8b5130517e4a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ccef7bbe6f31a85f0fa8514d6dd2fde174cd76f8c39259a043dd4783ec63fcca",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2017-08-31T15:37:48Z",
    "title_canon_sha256": "2d6caec13051e392fc22dea23564b51c8076fa39a385e40cc70e07c73c590ec8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.00376",
    "kind": "arxiv",
    "version": 1
  }
}