Pith Number

pith:YMDPM33H

pith:2023:YMDPM33HZL57EFUUMKXXG6AXEQ

not attested not anchored not stored refs pending

Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments

Joaquim Ortiz-Haro, Khaled Wahba, Marc Toussaint, Wolfgang H\"onig

arxiv:2310.03394 v3 · 2023-10-05 · cs.RO · cs.MA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YMDPM33HZL57EFUUMKXXG6AXEQ}

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.

Cited by

1 paper in Pith

Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots

Receipt and verification

First computed	2026-07-05T09:13:47.764064Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c306f66f67cafbf2169462af737817241b2b189c82c8327f62e4f20234ee6bba

Aliases

arxiv: 2310.03394 · arxiv_version: 2310.03394v3 · doi: 10.48550/arxiv.2310.03394 · pith_short_12: YMDPM33HZL57 · pith_short_16: YMDPM33HZL57EFUU · pith_short_8: YMDPM33H

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/YMDPM33HZL57EFUUMKXXG6AXEQ \
  | 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: c306f66f67cafbf2169462af737817241b2b189c82c8327f62e4f20234ee6bba

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5389ed2bac921efceb97895175ab0f331367659eb745fe453f92ccf671e1cdfc",
    "cross_cats_sorted": [
      "cs.MA"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-10-05T09:02:22Z",
    "title_canon_sha256": "2b7e28948b7e32ab56b12050290a7daf1a420982c0c2788200a639bc5ae48527"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2310.03394",
    "kind": "arxiv",
    "version": 3
  }
}