Pith Number

pith:U2KHFVZN

pith:2019:U2KHFVZN5STMAVICNLBBLR7E7H

not attested not anchored not stored refs pending

Representation-Optimal Multi-Robot Motion Planning using Conflict-Based Search

Irving Solis, James Motes, Nancy M. Amato, Read Sandstr\"om

arxiv:1909.13352 v2 · 2019-09-29 · 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{U2KHFVZN5STMAVICNLBBLR7E7H}

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	2026-07-05T00:45:33.728748Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a69472d72deca6c055026ac215c7e4f9cf82feb6ea0ccba7d98d9ab696b89a3b

Aliases

arxiv: 1909.13352 · arxiv_version: 1909.13352v2 · doi: 10.48550/arxiv.1909.13352 · pith_short_12: U2KHFVZN5STM · pith_short_16: U2KHFVZN5STMAVIC · pith_short_8: U2KHFVZN

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/U2KHFVZN5STMAVICNLBBLR7E7H \
  | 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: a69472d72deca6c055026ac215c7e4f9cf82feb6ea0ccba7d98d9ab696b89a3b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1d80ee415b7eeee5a7fad6ed8c7ad06a3ac11e5287847927d5c4ea481e216ffd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-29T19:49:16Z",
    "title_canon_sha256": "a9733dba59c3c16d0397b69fc6f495209092368a3548c36bddc3aed4be40e512"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.13352",
    "kind": "arxiv",
    "version": 2
  }
}