Pith Number

pith:X6ZJYV26

pith:2023:X6ZJYV26FH4N3R67GI3V2CQJNZ

not attested not anchored not stored refs pending

Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees

Alvaro Serra-Gomez, Javier Alonso-Mora, Laura Ferranti, Lorenzo Lyons, Manuel Boldrer, Vit Kratky

arxiv:2310.19511 v3 · 2023-10-30 · 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{X6ZJYV26FH4N3R67GI3V2CQJNZ}

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	2026-07-05T10:58:58.372894Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26

Aliases

arxiv: 2310.19511 · arxiv_version: 2310.19511v3 · doi: 10.48550/arxiv.2310.19511 · pith_short_12: X6ZJYV26FH4N · pith_short_16: X6ZJYV26FH4N3R67 · pith_short_8: X6ZJYV26

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/X6ZJYV26FH4N3R67GI3V2CQJNZ \
  | 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: bfb29c575e29f8ddc7df32375d0a096e41e60202b43fc2ed79ab9d579c4b7e26

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d5b1211c8b03bc4452d58b46c85143fd5fb8b0fec310118a01fb8122731665c9",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-10-30T13:10:05Z",
    "title_canon_sha256": "8312321e74e3d3ff6f493c0f48f6c28715a6821aeccc581682a5f43e8940eaf1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2310.19511",
    "kind": "arxiv",
    "version": 3
  }
}