Pith Number

pith:4V52IJN2

pith:2026:4V52IJN2D5ZOYLVKCTRJARLCVB

not attested not anchored not stored refs pending

Fibration Trees: A Unified Approach to Multi-Robot Motion Planning

Andreas Orthey, Florian T. Pokorny, Lydia E. Kavraki

arxiv:2606.12070 v1 · 2026-06-10 · 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{4V52IJN2D5ZOYLVKCTRJARLCVB}

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	2026-06-11T01:10:46.072057Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e57ba425ba1f72ec2eaa14e2904562a8449149f823251ca2d95b163082098093

Aliases

arxiv: 2606.12070 · arxiv_version: 2606.12070v1 · doi: 10.48550/arxiv.2606.12070 · pith_short_12: 4V52IJN2D5ZO · pith_short_16: 4V52IJN2D5ZOYLVK · pith_short_8: 4V52IJN2

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/4V52IJN2D5ZOYLVKCTRJARLCVB \
  | 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: e57ba425ba1f72ec2eaa14e2904562a8449149f823251ca2d95b163082098093

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "89a6381055725dbf971da15c976dd41f1567fed20686d631aced7f9fbb0d2d05",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-10T13:33:45Z",
    "title_canon_sha256": "530decb53a7f36cc24e7e39924addf8c74b4dba5e97877423b85d84dcbcf37a8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.12070",
    "kind": "arxiv",
    "version": 1
  }
}