Pith Number

pith:V5BLBVZR

pith:2025:V5BLBVZR425TMSA7DJ5EQCEFA4

not attested not anchored not stored refs pending

Integration of a Graph-Based Path Planner and Mixed-Integer MPC for Robot Navigation in Cluttered Environments

Andrew F. Thompson, Herschel C. Pangborn, Joshua A. Robbins, Sean Brennan, Stephen J. Harnett

arxiv:2504.13372 v2 · 2025-04-17 · eess.SY · cs.RO · cs.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{V5BLBVZR425TMSA7DJ5EQCEFA4}

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	2026-07-05T11:43:11.241277Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

af42b0d731e6bb36481f1a7a480885073184a3c392a08392858f81293166d938

Aliases

arxiv: 2504.13372 · arxiv_version: 2504.13372v2 · doi: 10.48550/arxiv.2504.13372 · pith_short_12: V5BLBVZR425T · pith_short_16: V5BLBVZR425TMSA7 · pith_short_8: V5BLBVZR

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/V5BLBVZR425TMSA7DJ5EQCEFA4 \
  | 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: af42b0d731e6bb36481f1a7a480885073184a3c392a08392858f81293166d938

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d4d5588daafdba3153cdf07b4f15cf170ec9dc6a24c52c0d6eed12ac240b1ed7",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2025-04-17T22:42:03Z",
    "title_canon_sha256": "e81446f3d1ad4427bbde79cbb066ea98dd2d2a8fbda808599bcdfea9854bb621"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.13372",
    "kind": "arxiv",
    "version": 2
  }
}