Pith Number

pith:ZQRH7FX7

pith:2017:ZQRH7FX7NF46GRFDN2KGGOBVNK

not attested not anchored not stored refs pending

Robust MPC for tracking of nonholonomic robots with additive disturbances

Karl Henrik Johansson, Kun Liu, Li Dai, Yuanqing Xia, Zhongqi Sun

arxiv:1703.03101 v1 · 2017-03-09 · 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{ZQRH7FX7NF46GRFDN2KGGOBVNK}

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	2026-05-18T00:49:01.551597Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cc227f96ff6979e344a36e946338356a84da1d68fe835eecf29ffcf47cc50d0c

Aliases

arxiv: 1703.03101 · arxiv_version: 1703.03101v1 · doi: 10.48550/arxiv.1703.03101 · pith_short_12: ZQRH7FX7NF46 · pith_short_16: ZQRH7FX7NF46GRFD · pith_short_8: ZQRH7FX7

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/ZQRH7FX7NF46GRFDN2KGGOBVNK \
  | 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: cc227f96ff6979e344a36e946338356a84da1d68fe835eecf29ffcf47cc50d0c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cbd4df58622842a02048b4601a20a5048d39f46fac843e263025b3b19cd5d63f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2017-03-09T01:39:27Z",
    "title_canon_sha256": "572b182b7bb450041c316e35af0216b9efb19c2ba8f2b716c7aa68a5a7f6c6a4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1703.03101",
    "kind": "arxiv",
    "version": 1
  }
}