Pith Number

pith:URRPTPAJ

pith:2018:URRPTPAJO2EU725F5R4IPRN24Z

not attested not anchored not stored refs pending

A Penalty Method Based Approach for Autonomous Navigation using Nonlinear Model Predictive Control

Ben Hermans, Goele Pipeleers, Panagiotis Patrinos

arxiv:1805.02524 v2 · 2018-05-07 · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{URRPTPAJO2EU725F5R4IPRN24Z}

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	2026-05-18T00:07:17.643709Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a462f9bc0976894feba5ec7887c5bae642ae07dee9d425fe597efcd1f27e43bd

Aliases

arxiv: 1805.02524 · arxiv_version: 1805.02524v2 · doi: 10.48550/arxiv.1805.02524 · pith_short_12: URRPTPAJO2EU · pith_short_16: URRPTPAJO2EU725F · pith_short_8: URRPTPAJ

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/URRPTPAJO2EU725F5R4IPRN24Z \
  | 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: a462f9bc0976894feba5ec7887c5bae642ae07dee9d425fe597efcd1f27e43bd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0ad6a65881f91a82a4d4f61d9d548e194f770648f19ff16cdd0b9a9187221a69",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2018-05-07T13:41:23Z",
    "title_canon_sha256": "7c28b2072c044db52e4bef2ba5c3703b9cad395c481aef18ccad1d736d6981b1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1805.02524",
    "kind": "arxiv",
    "version": 2
  }
}