Pith Number

pith:XNZ6PVMC

pith:2023:XNZ6PVMCN3AEJTSHDBTKUBWLYZ

not attested not anchored not stored refs pending

Deadlock-Free Collision Avoidance for Nonholonomic Robots

Ruochen Zheng, Siyu Li

arxiv:2305.04511 v1 · 2023-05-08 · cs.RO · cs.MA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XNZ6PVMCN3AEJTSHDBTKUBWLYZ}

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	2026-07-05T06:07:50.663552Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bb73e7d5826ec044ce471866aa06cbc6650a35c19deca0a29ae85316b288c1d5

Aliases

arxiv: 2305.04511 · arxiv_version: 2305.04511v1 · doi: 10.48550/arxiv.2305.04511 · pith_short_12: XNZ6PVMCN3AE · pith_short_16: XNZ6PVMCN3AEJTSH · pith_short_8: XNZ6PVMC

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/XNZ6PVMCN3AEJTSHDBTKUBWLYZ \
  | 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: bb73e7d5826ec044ce471866aa06cbc6650a35c19deca0a29ae85316b288c1d5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1873b5e4000a24b9aed8049cbea7504d79b50e4d29b7c3dd2019e1c1f9b62338",
    "cross_cats_sorted": [
      "cs.MA"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-05-08T07:10:18Z",
    "title_canon_sha256": "9d0f69f27a1fb03f484e758346e6b8f179ab7fc803ca9fbc9535d7253574f3d2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2305.04511",
    "kind": "arxiv",
    "version": 1
  }
}