Pith Number

pith:RM5RCCKG

pith:2024:RM5RCCKG7ZMPJZA5ACNMZNWNT3

not attested not anchored not stored refs pending

Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC

Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F.C. Figueredo, Sami Haddadin

arxiv:2402.05037 v1 · 2024-02-07 · 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{RM5RCCKG7ZMPJZA5ACNMZNWNT3}

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	2026-07-05T07:42:35.510432Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8b3b110946fe58f4e41d009accb6cd9eef6e2cc5684ab0ff75c39275b3027d24

Aliases

arxiv: 2402.05037 · arxiv_version: 2402.05037v1 · doi: 10.48550/arxiv.2402.05037 · pith_short_12: RM5RCCKG7ZMP · pith_short_16: RM5RCCKG7ZMPJZA5 · pith_short_8: RM5RCCKG

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/RM5RCCKG7ZMPJZA5ACNMZNWNT3 \
  | 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: 8b3b110946fe58f4e41d009accb6cd9eef6e2cc5684ab0ff75c39275b3027d24

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ac74046a47035f4a4d7ae80769053cdc6de8450f5ce8fd1c981b2d6b5fc409ff",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-07T17:17:25Z",
    "title_canon_sha256": "ccdc1c9d335531ac369d3d5dbe7e4e72ae68d87a69e2add05aab035fb95b3951"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.05037",
    "kind": "arxiv",
    "version": 1
  }
}