Pith Number

pith:UWQHX6JD

pith:2021:UWQHX6JDKPGMGG7FPKT47KYOPW

not attested not anchored not stored refs pending

Optimal Multi-Robot Motion Planning via Parabolic Relaxation

Amir Rahmani, Changrak Choi, Muhammad Adil, Ramtin Madani

arxiv:2111.14268 v1 · 2021-11-28 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{UWQHX6JDKPGMGG7FPKT47KYOPW}

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	2026-07-05T03:35:40.976540Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a5a07bf92353ccc31be57aa7cfab0e7d81ca40314c74708f988508bda6eef985

Aliases

arxiv: 2111.14268 · arxiv_version: 2111.14268v1 · doi: 10.48550/arxiv.2111.14268 · pith_short_12: UWQHX6JDKPGM · pith_short_16: UWQHX6JDKPGMGG7F · pith_short_8: UWQHX6JD

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/UWQHX6JDKPGMGG7FPKT47KYOPW \
  | 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: a5a07bf92353ccc31be57aa7cfab0e7d81ca40314c74708f988508bda6eef985

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cfe5d6823639d49dbfa6ce08261c996d2984adbe93c80abf0a1d13c25ef2b50d",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-28T23:11:10Z",
    "title_canon_sha256": "f8e9f6af80af2e575370b0a4624cee3f77e2bf094907e1d7f47450a8cb82ce78"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.14268",
    "kind": "arxiv",
    "version": 1
  }
}