Pith Number

pith:XV5PE45W

pith:2016:XV5PE45WWWS4RMUPANOVWKSFSB

not attested not anchored not stored refs pending

Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles

Michael Burri, Mina Kamel, Roland Siegwart

arxiv:1611.09240 v2 · 2016-11-28 · 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{XV5PE45WWWS4RMUPANOVWKSFSB}

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	2026-05-18T00:45:58.437384Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bd7af273b6b5a5c8b28f035d5b2a459069c89e7f4e391a193a0acbe271b30cde

Aliases

arxiv: 1611.09240 · arxiv_version: 1611.09240v2 · doi: 10.48550/arxiv.1611.09240 · pith_short_12: XV5PE45WWWS4 · pith_short_16: XV5PE45WWWS4RMUP · pith_short_8: XV5PE45W

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/XV5PE45WWWS4RMUPANOVWKSFSB \
  | 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: bd7af273b6b5a5c8b28f035d5b2a459069c89e7f4e391a193a0acbe271b30cde

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "14d44e2863c7ccc64d8890b906784cdbbc33057eb506b59dac5b1596bc72fa5a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-11-28T17:02:12Z",
    "title_canon_sha256": "f9481a5c715acc865084ad0385a276fb11d11109479e6b16f624c18901bbeb04"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1611.09240",
    "kind": "arxiv",
    "version": 2
  }
}