Pith Number

pith:64COL7O2

pith:2021:64COL7O2D5XLYSZAJWF7DOADN5

not attested not anchored not stored refs pending

Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions

Bardh Hoxha, Danil Prokhorov, Georgios Fainekos, Keyvan Majd, Shakiba Yaghoubi, Tomoya Yamaguchi

arxiv:2105.01204 v2 · 2021-05-03 · cs.RO · cs.SY · eess.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{64COL7O2D5XLYSZAJWF7DOADN5}

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	2026-07-05T03:02:52.591427Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f704e5fdda1f6ebc4b204d8bf1b8036f40f383fc77f32b97b65cee030e2c6143

Aliases

arxiv: 2105.01204 · arxiv_version: 2105.01204v2 · doi: 10.48550/arxiv.2105.01204 · pith_short_12: 64COL7O2D5XL · pith_short_16: 64COL7O2D5XLYSZA · pith_short_8: 64COL7O2

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/64COL7O2D5XLYSZAJWF7DOADN5 \
  | 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: f704e5fdda1f6ebc4b204d8bf1b8036f40f383fc77f32b97b65cee030e2c6143

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "15ed45fca1536334c760d0d2aba1106c3e21bd80d9a64978689fed8b0145b244",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-05-03T22:42:35Z",
    "title_canon_sha256": "97d543c43fc148d757039e4a2ccd4845646fd917e9ebd99bd23b705449377b45"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2105.01204",
    "kind": "arxiv",
    "version": 2
  }
}