Pith Number

pith:TS2A3HE3

pith:2026:TS2A3HE3XAUIJGFKZ4MQM5LO6V

not attested not anchored not stored refs pending

Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement

Courtney McBeth, Isaac Ngui, James D. Motes, Marco Morales, Nancy M. Amato

arxiv:2605.20395 v1 · 2026-05-19 · 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{TS2A3HE3XAUIJGFKZ4MQM5LO6V}

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	2026-05-21T01:04:36.433125Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9cb40d9c9bb8288498aacf1906756ef56da5d64d2c7a5d0191a0ec713e8516d9

Aliases

arxiv: 2605.20395 · arxiv_version: 2605.20395v1 · doi: 10.48550/arxiv.2605.20395 · pith_short_12: TS2A3HE3XAUI · pith_short_16: TS2A3HE3XAUIJGFK · pith_short_8: TS2A3HE3

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/TS2A3HE3XAUIJGFKZ4MQM5LO6V \
  | 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: 9cb40d9c9bb8288498aacf1906756ef56da5d64d2c7a5d0191a0ec713e8516d9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "249d38a73736caf50ad3044e663e3ab08cb73de6e0515c76a7ca6c4fba6055f5",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-19T18:44:09Z",
    "title_canon_sha256": "cbb152eddfbaf475bb88de09a5257e20aaa0c266a09a94580851df57121226eb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.20395",
    "kind": "arxiv",
    "version": 1
  }
}