Pith Number

pith:QDMQ6JH7

pith:2021:QDMQ6JH7NT7UQUFVT5WLMRIJCH

not attested not anchored not stored refs pending

Comparison between safety methods control barrier function vs. reachability analysis

Zhichao Li

arxiv:2106.13176 v1 · 2021-06-24 · eess.SY · cs.RO · 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{QDMQ6JH7NT7UQUFVT5WLMRIJCH}

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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.

Cited by

1 paper in Pith

Control Barrier Function-Based Quadratic Programming for SafeOperation of Tethered UAVs

Receipt and verification

First computed	2026-07-05T02:52:10.267089Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

80d90f24ff6cff4850b59f6cb6450911c0d2ea924fc24ede2ddfa783b70fa9e2

Aliases

arxiv: 2106.13176 · arxiv_version: 2106.13176v1 · doi: 10.48550/arxiv.2106.13176 · pith_short_12: QDMQ6JH7NT7U · pith_short_16: QDMQ6JH7NT7UQUFV · pith_short_8: QDMQ6JH7

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/QDMQ6JH7NT7UQUFVT5WLMRIJCH \
  | 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: 80d90f24ff6cff4850b59f6cb6450911c0d2ea924fc24ede2ddfa783b70fa9e2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5748c5724b460ee21275ad36c91e84c7dbf8b645c0739e3a90789b2dfb5c1d18",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2021-06-24T16:54:22Z",
    "title_canon_sha256": "995b1564869f5578f3088f9cebeee922c6c7ff87937aa78d7d5c22ebe45ef10e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2106.13176",
    "kind": "arxiv",
    "version": 1
  }
}