Pith Number

pith:VZH67ICG

pith:2019:VZH67ICGMTTTUMRVRISFJT6IWH

not attested not anchored not stored refs pending

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

Boyu Zhou, Fei Gao, Jie Pan, Shaojie Shen

arxiv:1912.12644 v2 · 2019-12-29 · 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{VZH67ICGMTTTUMRVRISFJT6IWH}

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	2026-07-05T00:55:30.074193Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ae4fefa04664e73a32358a2454cfc8b1c966f5d1f395dbb28454265929bb4d80

Aliases

arxiv: 1912.12644 · arxiv_version: 1912.12644v2 · doi: 10.48550/arxiv.1912.12644 · pith_short_12: VZH67ICGMTTT · pith_short_16: VZH67ICGMTTTUMRV · pith_short_8: VZH67ICG

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/VZH67ICGMTTTUMRVRISFJT6IWH \
  | 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: ae4fefa04664e73a32358a2454cfc8b1c966f5d1f395dbb28454265929bb4d80

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2989d473c246d50123101956453e488c856c519d284dce3110f488711489dc0c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-12-29T13:06:44Z",
    "title_canon_sha256": "ceefd273f872c0f9b4136fa36a6354992d2adb8be7a8e65e69dce3515c86b1f4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1912.12644",
    "kind": "arxiv",
    "version": 2
  }
}