Pith Number

pith:4EXBFDFU

pith:2021:4EXBFDFUQGCG6CJZ2MKVEK2TKF

not attested not anchored not stored refs pending

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight

Angel Romero, Davide Scaramuzza, Elia Kaufmann, Philipp Foehn, Sihao Sun

arxiv:2109.01365 v6 · 2021-09-03 · 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{4EXBFDFUQGCG6CJZ2MKVEK2TKF}

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.

Cited by

1 paper in Pith

Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking

Receipt and verification

First computed	2026-07-05T07:29:59.745439Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e12e128cb481846f0939d315522b53514466dcb897e3dbfb8ebab835d8c10f8b

Aliases

arxiv: 2109.01365 · arxiv_version: 2109.01365v6 · doi: 10.48550/arxiv.2109.01365 · pith_short_12: 4EXBFDFUQGCG · pith_short_16: 4EXBFDFUQGCG6CJZ · pith_short_8: 4EXBFDFU

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/4EXBFDFUQGCG6CJZ2MKVEK2TKF \
  | 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: e12e128cb481846f0939d315522b53514466dcb897e3dbfb8ebab835d8c10f8b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9f6ebeef4eb3b0a6f143b7b80a2af11e477d5b34bd5dda1be23e7e61363f8c0b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-03T08:24:13Z",
    "title_canon_sha256": "d2bee5280f4b151a9178c4f248772d62ca9aa27c1fc9ab066311f6b072f34db9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.01365",
    "kind": "arxiv",
    "version": 6
  }
}