Pith Number

pith:ZHVZ447Z

pith:2022:ZHVZ447ZFUWABFT43FBUHR4QTI

not attested not anchored not stored refs pending

Robust Lattice-based Motion Planning

Abhishek Dhar, Carl Hyn\'en, Daniel Axehill, Johan L\"ofberg

arxiv:2209.14360 v1 · 2022-09-28 · eess.SY · cs.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{ZHVZ447ZFUWABFT43FBUHR4QTI}

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	2026-07-05T05:01:52.064282Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c9eb9e73f92d2c00967cd94343c7909a0a7862a3538d3ca7aa09c19b95fc05e6

Aliases

arxiv: 2209.14360 · arxiv_version: 2209.14360v1 · doi: 10.48550/arxiv.2209.14360 · pith_short_12: ZHVZ447ZFUWA · pith_short_16: ZHVZ447ZFUWABFT4 · pith_short_8: ZHVZ447Z

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/ZHVZ447ZFUWABFT43FBUHR4QTI \
  | 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: c9eb9e73f92d2c00967cd94343c7909a0a7862a3538d3ca7aa09c19b95fc05e6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2d8ca5c02c2ef6a4951434f5fad1e8c0d4e11c1cd3f1dff3f721c59f5cbef0e8",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2022-09-28T18:45:16Z",
    "title_canon_sha256": "b4d04f19986f27c313dd14cd564b974a1d6b7c892b24d6764e1600e000676cbf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.14360",
    "kind": "arxiv",
    "version": 1
  }
}