Pith Number

pith:YGR4YORG

pith:2014:YGR4YORGR3FPYNBEPZ2YW55WZE

not attested not anchored not stored refs pending

Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms

Emilio Frazzoli, Michael Otte, Minghui Zhu, Pratik Chaudhari

arxiv:1402.2708 v2 · 2014-02-12 · cs.MA · cs.GT · cs.SY · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YGR4YORGR3FPYNBEPZ2YW55WZE}

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	2026-05-18T02:58:56.202754Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c1a3cc3a268ecafc34247e758b77b6c9232171f217db5d6abf34e5953986fa15

Aliases

arxiv: 1402.2708 · arxiv_version: 1402.2708v2 · doi: 10.48550/arxiv.1402.2708 · pith_short_12: YGR4YORGR3FP · pith_short_16: YGR4YORGR3FPYNBE · pith_short_8: YGR4YORG

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/YGR4YORGR3FPYNBEPZ2YW55WZE \
  | 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: c1a3cc3a268ecafc34247e758b77b6c9232171f217db5d6abf34e5953986fa15

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ea6c364890a5268ee0700d041ca13cdb37084ac779445a488a1a4c44fb26dcd3",
    "cross_cats_sorted": [
      "cs.GT",
      "cs.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.MA",
    "submitted_at": "2014-02-12T00:38:05Z",
    "title_canon_sha256": "d2adb988630e083e9b8cb7849b003d47ecbc933f9cb8aba24410c48cd19d2e4c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1402.2708",
    "kind": "arxiv",
    "version": 2
  }
}