Pith Number

pith:UDUXEEPY

pith:2024:UDUXEEPYJ5WM2QWSTVKTBSBOE6

not attested not anchored not stored refs pending

Topology-Guided ORCA: Smooth Multi-Agent Motion Planning in Constrained Environments

Ananya Yammanuru, Fatemeh Cheraghi Pouria, Katherine Driggs-Campbell, Shuijing Liu, Zhe Huang

arxiv:2407.16771 v2 · 2024-07-23 · 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{UDUXEEPYJ5WM2QWSTVKTBSBOE6}

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	2026-07-05T08:57:05.947258Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a0e97211f84f6ccd42d29d5530c82e27a9054fadd966359a7d442714f16c3383

Aliases

arxiv: 2407.16771 · arxiv_version: 2407.16771v2 · doi: 10.48550/arxiv.2407.16771 · pith_short_12: UDUXEEPYJ5WM · pith_short_16: UDUXEEPYJ5WM2QWS · pith_short_8: UDUXEEPY

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/UDUXEEPYJ5WM2QWSTVKTBSBOE6 \
  | 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: a0e97211f84f6ccd42d29d5530c82e27a9054fadd966359a7d442714f16c3383

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e525477c62418ae0fb498621ecd498048937e236ee7e227a5437738e7bf16684",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-07-23T18:08:12Z",
    "title_canon_sha256": "5f55dcab5617e579a772cb093c8c03d9923391954a717a63c848fdbeada6c679"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2407.16771",
    "kind": "arxiv",
    "version": 2
  }
}