Pith Number

pith:QI5CX4UM

pith:2019:QI5CX4UMYOAK2IIZKLCO43NCZX

not attested not anchored not stored refs pending

3D Multi-Robot Patrolling with a Two-Level Coordination Strategy

Abel Gawel, Cesar Cadena, Fiora Pirri, Luigi Freda, Mario Gianni, Renaud Dube, Roland Siegwart

arxiv:1906.09591 v1 · 2019-06-23 · cs.RO · cs.AI · cs.MA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{QI5CX4UMYOAK2IIZKLCO43NCZX}

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	2026-05-17T23:42:37.465618Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

823a2bf28cc380ad211952c4ee6da2cdd14b060bd960f19b08838159046cb0e4

Aliases

arxiv: 1906.09591 · arxiv_version: 1906.09591v1 · doi: 10.48550/arxiv.1906.09591 · pith_short_12: QI5CX4UMYOAK · pith_short_16: QI5CX4UMYOAK2IIZ · pith_short_8: QI5CX4UM

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/QI5CX4UMYOAK2IIZKLCO43NCZX \
  | 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: 823a2bf28cc380ad211952c4ee6da2cdd14b060bd960f19b08838159046cb0e4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "17ffe06913d7995d9b74401edfe9980eeea4b619bdf0d4f4d360b9584562384e",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.MA"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-23T12:51:05Z",
    "title_canon_sha256": "c739e5965cda77450a8f6a2262225f75e3fc0ae985d527b6869be2fcc5800e11"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.09591",
    "kind": "arxiv",
    "version": 1
  }
}