Pith Number

pith:Z4YKEAYS

pith:2022:Z4YKEAYSQKT5LBZVEDTP2ETNZ2

not attested not anchored not stored refs pending

Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces

Jianchang Liu, Li Fan, Peng Xu, Wenle Zhang

arxiv:2208.06876 v3 · 2022-08-14 · cs.RO · cs.SY · eess.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{Z4YKEAYSQKT5LBZVEDTP2ETNZ2}

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	2026-07-05T05:02:26.916741Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cf30a2031282a7d5873520e6fd126dceb86db44f1c64377cacce98df84615f5b

Aliases

arxiv: 2208.06876 · arxiv_version: 2208.06876v3 · doi: 10.48550/arxiv.2208.06876 · pith_short_12: Z4YKEAYSQKT5 · pith_short_16: Z4YKEAYSQKT5LBZV · pith_short_8: Z4YKEAYS

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/Z4YKEAYSQKT5LBZVEDTP2ETNZ2 \
  | 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: cf30a2031282a7d5873520e6fd126dceb86db44f1c64377cacce98df84615f5b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1e971fe7bb19d3ba9ce5f2b04856ebbc574fa7d52e2fc1ebb4fa12b1ee431834",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-08-14T16:19:27Z",
    "title_canon_sha256": "747aadc334c10d3d0a2ab79bd410efbcf459470fb2b03641b1446c4218c8ee71"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2208.06876",
    "kind": "arxiv",
    "version": 3
  }
}