Pith Number

pith:ZC23NNAB

pith:2018:ZC23NNAB4UQ6UCVUENSZS75R3Y

not attested not anchored not stored refs pending

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Bruno V. Adorno, Heitor J. Savino, Julie A. Shah, Luciano C. A. Pimenta

arxiv:1810.08871 v2 · 2018-10-21 · cs.RO · 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{ZC23NNAB4UQ6UCVUENSZS75R3Y}

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	2026-05-17T23:43:17.363917Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c8b5b6b401e521ea0ab42365997fb1de16a30e1dc4bba5493cb6f36a130fb379

Aliases

arxiv: 1810.08871 · arxiv_version: 1810.08871v2 · doi: 10.48550/arxiv.1810.08871 · pith_short_12: ZC23NNAB4UQ6 · pith_short_16: ZC23NNAB4UQ6UCVU · pith_short_8: ZC23NNAB

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/ZC23NNAB4UQ6UCVUENSZS75R3Y \
  | 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: c8b5b6b401e521ea0ab42365997fb1de16a30e1dc4bba5493cb6f36a130fb379

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2a77f3d635f1aab2a4da4d50c7513f78e198dadef5dfc98fae89ce20d0028785",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-10-21T00:11:09Z",
    "title_canon_sha256": "56cec91adfbc4da85c772fb2e767e22af64f4299ffe9da1317e0c651f62735c7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1810.08871",
    "kind": "arxiv",
    "version": 2
  }
}