Pith Number

pith:QRYCA5NP

pith:2017:QRYCA5NP2LS3WNBIAAWZCWFBPS

not attested not anchored not stored refs pending

Modelling and Path Planning of Snake Robot in cluttered environment

Akash Singh, Chaohui Gong, Howie Choset

arxiv:1710.02610 v2 · 2017-10-07 · 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{QRYCA5NP2LS3WNBIAAWZCWFBPS}

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	2026-05-18T00:15:52.420060Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

84702075afd2e5bb3428002d9158a17ca0a5040c3a00e42d39ab7b7c7ca97cf8

Aliases

arxiv: 1710.02610 · arxiv_version: 1710.02610v2 · doi: 10.48550/arxiv.1710.02610 · pith_short_12: QRYCA5NP2LS3 · pith_short_16: QRYCA5NP2LS3WNBI · pith_short_8: QRYCA5NP

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/QRYCA5NP2LS3WNBIAAWZCWFBPS \
  | 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: 84702075afd2e5bb3428002d9158a17ca0a5040c3a00e42d39ab7b7c7ca97cf8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fbd57a6935caafbc97e0c9b7e67acee6de23e25984c2d3250294f9496ada0c0c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-10-07T00:04:36Z",
    "title_canon_sha256": "baf0b2e5ba4ff72bddd802f57d2f7ebe5f6b1ebc2c6e297a2a08ef6fa4c65eee"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1710.02610",
    "kind": "arxiv",
    "version": 2
  }
}