Pith Number

pith:5BRMGNOH

pith:2019:5BRMGNOHKK27COYYEA7ZLO3KVD

not attested not anchored not stored refs pending

Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach

Abhishek Cauligi, Andrew Bylard, Marco Pavone, Riccardo Bonalli, Thomas Lew

arxiv:1905.07654 v1 · 2019-05-18 · math.OC · 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{5BRMGNOHKK27COYYEA7ZLO3KVD}

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

2 papers in Pith

LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies

Trajectory Optimization for Collision-Aware Redundant Robotic Multi-Axis Additive Manufacturing by Constrained Gradient Projection

Receipt and verification

First computed	2026-05-17T23:45:48.927144Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e862c335c752b5f13b18203f95bb6aa8e1b5ce2252099f119a4ad2326036ddaf

Aliases

arxiv: 1905.07654 · arxiv_version: 1905.07654v1 · doi: 10.48550/arxiv.1905.07654 · pith_short_12: 5BRMGNOHKK27 · pith_short_16: 5BRMGNOHKK27COYY · pith_short_8: 5BRMGNOH

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/5BRMGNOHKK27COYYEA7ZLO3KVD \
  | 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: e862c335c752b5f13b18203f95bb6aa8e1b5ce2252099f119a4ad2326036ddaf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "642ed457581f5779471e16303abbe487d4feab20e4dbf3f0464ad96f54f1c660",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2019-05-18T22:55:15Z",
    "title_canon_sha256": "08ebf3099d2a0d4fdefd3abacd954ebaaad0c431674424a83e49becfb2d0bf70"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1905.07654",
    "kind": "arxiv",
    "version": 1
  }
}