Pith Number

pith:TLIEDUGA

pith:2021:TLIEDUGAQTC3FL4WXYDSDTIFB6

not attested not anchored not stored refs pending

Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation

Angel Santamaria-Navarro, Joan Sol\`a, Josep Mart\'i-Saumell, Juan Andrade-Cetto

arxiv:2107.03722 v2 · 2021-07-08 · 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{TLIEDUGAQTC3FL4WXYDSDTIFB6}

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	2026-07-05T06:35:03.017212Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9ad041d0c084c5b2af96be0721cd050fa2fc6728f09aa80f7d423a91cef43b7b

Aliases

arxiv: 2107.03722 · arxiv_version: 2107.03722v2 · doi: 10.48550/arxiv.2107.03722 · pith_short_12: TLIEDUGAQTC3 · pith_short_16: TLIEDUGAQTC3FL4W · pith_short_8: TLIEDUGA

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/TLIEDUGAQTC3FL4WXYDSDTIFB6 \
  | 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: 9ad041d0c084c5b2af96be0721cd050fa2fc6728f09aa80f7d423a91cef43b7b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "75db236df9ad38ffc0255f63fd4c4cb50baa10d6b568b16bb2f93a7107027670",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-08T10:06:09Z",
    "title_canon_sha256": "3b71d201d1c5201d4569aea344941d9d6e6b881b66ed301ad7fb6a0de5e873d4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.03722",
    "kind": "arxiv",
    "version": 2
  }
}