Pith Number

pith:6LT7RYJ4

pith:2024:6LT7RYJ4VH4OHMVMHKB2GTF3FR

not attested not anchored not stored refs pending

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach

Jianliang Mao, Jinhao Liu, Jun Yang, Qihang Xie, Shihua Li, Tianqi Zhu, Xiangyu Wang, Yimeng Li

arxiv:2405.12408 v1 · 2024-05-20 · 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{6LT7RYJ4VH4OHMVMHKB2GTF3FR}

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	2026-07-05T08:21:19.636976Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f2e7f8e13ca9f8e3b2ac3a83a34cbb2c44fc0e479e94f95c405fc593bdad175d

Aliases

arxiv: 2405.12408 · arxiv_version: 2405.12408v1 · doi: 10.48550/arxiv.2405.12408 · pith_short_12: 6LT7RYJ4VH4O · pith_short_16: 6LT7RYJ4VH4OHMVM · pith_short_8: 6LT7RYJ4

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/6LT7RYJ4VH4OHMVMHKB2GTF3FR \
  | 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: f2e7f8e13ca9f8e3b2ac3a83a34cbb2c44fc0e479e94f95c405fc593bdad175d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3ef0c2970dc5bf321f1093a8e1882765a427a0694d291f01cdc638685387e5f1",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-05-20T23:12:55Z",
    "title_canon_sha256": "bb711c1ac9659712716bf29f2db6e2107df0925c4547e2d11df3c193e403ba63"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2405.12408",
    "kind": "arxiv",
    "version": 1
  }
}