Pith Number

pith:SCMTNPEZ

pith:2026:SCMTNPEZIPNYSPIT4WQ4VSM2TO

not attested not anchored not stored refs pending

Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception

Harsh Modi, Minghui Zheng, Xiao Liang

arxiv:2605.15999 v1 · 2026-05-15 · 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{SCMTNPEZIPNYSPIT4WQ4VSM2TO}

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	2026-05-20T00:01:48.340816Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f

Aliases

arxiv: 2605.15999 · arxiv_version: 2605.15999v1 · doi: 10.48550/arxiv.2605.15999 · pith_short_12: SCMTNPEZIPNY · pith_short_16: SCMTNPEZIPNYSPIT · pith_short_8: SCMTNPEZ

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/SCMTNPEZIPNYSPIT4WQ4VSM2TO \
  | 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: 909936bc9943db893d13e5a1cac99a9bb0ca4d9b0260ca2d8151563c16e3808f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "27b5e82bd8cc4fb62e03b9a7c626441f61d21610260ed44cede7f6373c56ad7f",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-15T14:31:09Z",
    "title_canon_sha256": "409fe9c5d15d867978f75cb21538c47d6e3d0feaddf68cf849b2434be39b4bbc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.15999",
    "kind": "arxiv",
    "version": 1
  }
}