Pith Number

pith:XWJ6YR3I

pith:2017:XWJ6YR3I5K2SFH53JJHUPGMY4F

not attested not anchored not stored refs pending

A Nonlinear Model Predictive Control Scheme for Cooperative Manipulation with Singularity and Collision Avoidance

Alexandros Nikou, Christos Verginis, Dimos V. Dimarogonas, Shahab Heshmati-Alamdari

arxiv:1705.01426 v2 · 2017-05-03 · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XWJ6YR3I5K2SFH53JJHUPGMY4F}

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	2026-05-18T00:30:45.009361Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bd93ec4768eab5229fbb4a4f479998e1640d5f034c564f065679a299faf9ce2b

Aliases

arxiv: 1705.01426 · arxiv_version: 1705.01426v2 · doi: 10.48550/arxiv.1705.01426 · pith_short_12: XWJ6YR3I5K2S · pith_short_16: XWJ6YR3I5K2SFH53 · pith_short_8: XWJ6YR3I

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/XWJ6YR3I5K2SFH53JJHUPGMY4F \
  | 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: bd93ec4768eab5229fbb4a4f479998e1640d5f034c564f065679a299faf9ce2b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bf09a1cecd0596210ca8312bf75dd0a82a2b2366283825bce3c7f72ec6c03d6d",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-05-03T13:44:14Z",
    "title_canon_sha256": "eede22848ea3459c96d6c9bada3bdde9c3499c75553708dcf3fb07e3d2793446"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1705.01426",
    "kind": "arxiv",
    "version": 2
  }
}