Pith Number

pith:ZKAPKF5F

pith:2021:ZKAPKF5FXAP6HQI54ABSRZ6J73

not attested not anchored not stored refs pending

Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy

Alex Zhou, Camillo J. Taylor, Chao Qu, Fernando Cladera Ojeda, Guilherme V. Nardari, Roseli A. F. Romero, Steven W. Chen, Thomas Donnelly, Vijay Kumar, Xu Liu, Yuezhan Tao

arxiv:2109.06479 v6 · 2021-09-14 · cs.RO · cs.AI

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZKAPKF5FXAP6HQI54ABSRZ6J73}

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	2026-07-05T06:41:43.275602Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ca80f517a5b81fe3c11de00328e7c9fec607206a00b5d260b3c54ff73be04358

Aliases

arxiv: 2109.06479 · arxiv_version: 2109.06479v6 · doi: 10.48550/arxiv.2109.06479 · pith_short_12: ZKAPKF5FXAP6 · pith_short_16: ZKAPKF5FXAP6HQI5 · pith_short_8: ZKAPKF5F

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/ZKAPKF5FXAP6HQI54ABSRZ6J73 \
  | 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: ca80f517a5b81fe3c11de00328e7c9fec607206a00b5d260b3c54ff73be04358

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bd0c94428d551f7a98d880c6c60611074d83cd699639107a69c35828ecc787b6",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-14T07:24:53Z",
    "title_canon_sha256": "9100ea555a071f5367baa4cf51c024bfad61701c2be029a8eef94e50f53240d0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.06479",
    "kind": "arxiv",
    "version": 6
  }
}