Pith Number

pith:XOMGC46A

pith:2015:XOMGC46AQKDN5BDTESRNGSG4AO

not attested not anchored not stored refs pending

Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator

Dinuka Abeywardena, Gamini Dissanayake, Rohan Munasinghe, Sarath Kodagoda

arxiv:1509.03388 v1 · 2015-09-11 · 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{XOMGC46AQKDN5BDTESRNGSG4AO}

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	2026-05-18T01:33:23.417464Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bb986173c08286de847324a2d348dc03b3b785dc9d1a1afc854591737837ba56

Aliases

arxiv: 1509.03388 · arxiv_version: 1509.03388v1 · doi: 10.48550/arxiv.1509.03388 · pith_short_12: XOMGC46AQKDN · pith_short_16: XOMGC46AQKDN5BDT · pith_short_8: XOMGC46A

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/XOMGC46AQKDN5BDTESRNGSG4AO \
  | 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: bb986173c08286de847324a2d348dc03b3b785dc9d1a1afc854591737837ba56

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e4e0b93b35339c144e3336ad82b78f602ecda6be8142ba805f8fe3825c117947",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-09-11T04:49:38Z",
    "title_canon_sha256": "d385e9203b395bf43e927650bbe954f8d413413d1d339b3a18027655d4860f7d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1509.03388",
    "kind": "arxiv",
    "version": 1
  }
}