Pith Number

pith:XUT7KHT2

pith:2026:XUT7KHT2NXRCENOCUZI5P2MJRR

not attested not anchored not stored refs pending

Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes

Calin A. Belta, Shuo Liu, Zhe Huang

arxiv:2603.05916 v2 · 2026-03-06 · 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{XUT7KHT2NXRCENOCUZI5P2MJRR}

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	2026-06-23T02:13:21.968578Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0

Aliases

arxiv: 2603.05916 · arxiv_version: 2603.05916v2 · doi: 10.48550/arxiv.2603.05916 · pith_short_12: XUT7KHT2NXRC · pith_short_16: XUT7KHT2NXRCENOC · pith_short_8: XUT7KHT2

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/XUT7KHT2NXRCENOCUZI5P2MJRR \
  | 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: bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "96a9553a8e0d63e0eb8ec5b2d455bb720ca2cbf58e8550ce79745ef60923116c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-06T05:10:44Z",
    "title_canon_sha256": "669e88bf9f6d7fccdb2c073b1400920c30d3f1f2e1c0a0d63cecf323b1ac7615"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.05916",
    "kind": "arxiv",
    "version": 2
  }
}