Pith Number

pith:Z2PIALJX

pith:2024:Z2PIALJXKCI6UZVDDYVDWKCUUY

not attested not anchored not stored refs pending

Progressive Smoothing for Motion Planning in Real-Time NMPC

Katrin Baumg\"artner, Moritz Diehl, Rien Quirynen, Rudolf Reiter

arxiv:2403.01830 v1 · 2024-03-04 · eess.SY · 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{Z2PIALJXKCI6UZVDDYVDWKCUUY}

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	2026-07-05T07:51:52.541541Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ce9e802d375091ea66a31e2a3b2854a61382e482152f9a1702f8b2f155cad0a7

Aliases

arxiv: 2403.01830 · arxiv_version: 2403.01830v1 · doi: 10.48550/arxiv.2403.01830 · pith_short_12: Z2PIALJXKCI6 · pith_short_16: Z2PIALJXKCI6UZVD · pith_short_8: Z2PIALJX

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/Z2PIALJXKCI6UZVDDYVDWKCUUY \
  | 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: ce9e802d375091ea66a31e2a3b2854a61382e482152f9a1702f8b2f155cad0a7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0f98330fbc80e400d9ceae5ff6806ed7c0926b6aafa29cff5cec6b5fd7cef7a9",
    "cross_cats_sorted": [
      "cs.SY",
      "math.OC"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2024-03-04T08:26:14Z",
    "title_canon_sha256": "b07957ac130b41fde7fd20f317d6988179cc27c3c42d61fbd43d3bc5fab46b2d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2403.01830",
    "kind": "arxiv",
    "version": 1
  }
}