Pith Number

pith:QOOOUV2G

pith:2023:QOOOUV2G7FVNPS5BYV4NV7QT5A

not attested not anchored not stored refs pending

LQR-CBF-RRT*: Safe and Optimal Motion Planning

Ahmad Ahmad, Amanda Prorok, Calin Belta, Guang Yang, Mingyu Cai, Roberto Tron

arxiv:2304.00790 v4 · 2023-04-03 · cs.RO · cs.SY · eess.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{QOOOUV2G7FVNPS5BYV4NV7QT5A}

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	2026-07-05T06:54:37.840174Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

839cea5746f96ad7cba1c578dafe13e83c2e078002f9c33f80f2fb1645e4a35d

Aliases

arxiv: 2304.00790 · arxiv_version: 2304.00790v4 · doi: 10.48550/arxiv.2304.00790 · pith_short_12: QOOOUV2G7FVN · pith_short_16: QOOOUV2G7FVNPS5B · pith_short_8: QOOOUV2G

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/QOOOUV2G7FVNPS5BYV4NV7QT5A \
  | 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: 839cea5746f96ad7cba1c578dafe13e83c2e078002f9c33f80f2fb1645e4a35d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a119b0f2671f3aaf3a6d73c8ee82d49a3dd21ca85904354d6bf80c9b35e5a83c",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-04-03T08:23:53Z",
    "title_canon_sha256": "036e93b3aedb0591868eeb4a038d63f1814a8fd4d418ba6623f2489b8433cd6f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2304.00790",
    "kind": "arxiv",
    "version": 4
  }
}