Pith Number

pith:ZWLNX6NF

pith:2026:ZWLNX6NFRENRIV7WBCOTVSBMCP

not attested not anchored not stored refs pending

A Terrain-Adaptive epsilon-Constraint MPC for Uneven Terrain Kinodynamic Planning

Geesara Kalathunga, Otobong Jerome, Tiago Nascimento

arxiv:2605.21188 v1 · 2026-05-20 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZWLNX6NFRENRIV7WBCOTVSBMCP}

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	2026-05-21T01:05:42.584944Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cd96dbf9a5891b1457f6089d3ac82c13f89cdcfa898c50704d887dddd6df5c0c

Aliases

arxiv: 2605.21188 · arxiv_version: 2605.21188v1 · doi: 10.48550/arxiv.2605.21188 · pith_short_12: ZWLNX6NFRENR · pith_short_16: ZWLNX6NFRENRIV7W · pith_short_8: ZWLNX6NF

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/ZWLNX6NFRENRIV7WBCOTVSBMCP \
  | 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: cd96dbf9a5891b1457f6089d3ac82c13f89cdcfa898c50704d887dddd6df5c0c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "44b0c9002a51221eec48d94cd598a6b2f2e324acf20bc40dba4a33ecff323d46",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-20T13:52:56Z",
    "title_canon_sha256": "a98817f3927fcb6d79b32c0881540ae9b69c41bfe67707a41af3d7aa25350453"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.21188",
    "kind": "arxiv",
    "version": 1
  }
}