Pith Number

pith:YTPJ2CSO

pith:2021:YTPJ2CSOGBV6SBLWXL5U22UMJH

not attested not anchored not stored refs pending

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions

Akshay Thirugnanam, Jun Zeng, Koushil Sreenath

arxiv:2109.12313 v4 · 2021-09-25 · cs.RO · cs.SY · eess.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{YTPJ2CSOGBV6SBLWXL5U22UMJH}

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

Vehicle-in-Virtual-Environment (VVE) Method for Developing and Evaluating VRU Safety of Connected and Autonomous Driving with Focus on Bicyclist Safety

Receipt and verification

First computed	2026-07-05T04:27:29.066263Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c4de9d0a4e306be90576bafb4d6a8c49fc2dbbf0517246c32c1c2f9a1dfa520b

Aliases

arxiv: 2109.12313 · arxiv_version: 2109.12313v4 · doi: 10.48550/arxiv.2109.12313 · pith_short_12: YTPJ2CSOGBV6 · pith_short_16: YTPJ2CSOGBV6SBLW · pith_short_8: YTPJ2CSO

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/YTPJ2CSOGBV6SBLWXL5U22UMJH \
  | 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: c4de9d0a4e306be90576bafb4d6a8c49fc2dbbf0517246c32c1c2f9a1dfa520b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4651128cfb067660e12fb74b3678713d0073ad0f2e8273a50f62a7f42cddde5e",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-25T08:36:59Z",
    "title_canon_sha256": "7135ea02ff2f19d9b3b059b32b86385d517ffdf227f4d2bee7a2f4ae027082c0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.12313",
    "kind": "arxiv",
    "version": 4
  }
}