Pith Number

pith:S6AD2XWQ

pith:2015:S6AD2XWQRCSJOYJCPGE4GJ7SEY

not attested not anchored not stored refs pending

Planning for Optimal Feedback Control in the Volume of Free Space

Dmitry Yershov, Emilio Frazzoli, Michael Otte

arxiv:1504.07940 v1 · 2015-04-29 · 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{S6AD2XWQRCSJOYJCPGE4GJ7SEY}

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.

Cited by

1 paper in Pith

Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles

Receipt and verification

First computed	2026-05-18T02:17:25.176340Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

97803d5ed088a49761227989c327f226019b091b8a6b58921e1ba8dc69f8ea02

Aliases

arxiv: 1504.07940 · arxiv_version: 1504.07940v1 · doi: 10.48550/arxiv.1504.07940 · pith_short_12: S6AD2XWQRCSJ · pith_short_16: S6AD2XWQRCSJOYJC · pith_short_8: S6AD2XWQ

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/S6AD2XWQRCSJOYJCPGE4GJ7SEY \
  | 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: 97803d5ed088a49761227989c327f226019b091b8a6b58921e1ba8dc69f8ea02

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "61524379b886a22c4830a0974f8d038b41cc9a99ad0f5cb44de188ae70039f0e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-04-29T17:39:43Z",
    "title_canon_sha256": "b4b1637eef4de3dce0d4ada7ba8dd51394d205d6563cf680effc29034a7d0615"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1504.07940",
    "kind": "arxiv",
    "version": 1
  }
}