Pith Number

pith:6SJ2ZTQJ

pith:2024:6SJ2ZTQJWI7DC2MSYVOAL4VUQ4

not attested not anchored not stored refs pending

Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs

Fen Liu, Lihua Xie, Ruofei Bai, Shenghai Yuan, Tianxin Hu, Xinghang Xu, Yuwen Liao

arxiv:2412.16875 v2 · 2024-12-22 · 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{6SJ2ZTQJWI7DC2MSYVOAL4VUQ4}

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	2026-07-05T10:12:24.557165Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f493acce09b23e316992c55c05f2b4873b7ba3738133ce251ae9a90b76181844

Aliases

arxiv: 2412.16875 · arxiv_version: 2412.16875v2 · doi: 10.48550/arxiv.2412.16875 · pith_short_12: 6SJ2ZTQJWI7D · pith_short_16: 6SJ2ZTQJWI7DC2MS · pith_short_8: 6SJ2ZTQJ

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/6SJ2ZTQJWI7DC2MSYVOAL4VUQ4 \
  | 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: f493acce09b23e316992c55c05f2b4873b7ba3738133ce251ae9a90b76181844

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a0c388e751c662076d2239aa11b7377f786d32731a21732697d77a9b78544b71",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-22T06:11:02Z",
    "title_canon_sha256": "70ebadd620508a20b4d691a25d58f0170bc8d524241e822d8124fc12ce6048e4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.16875",
    "kind": "arxiv",
    "version": 2
  }
}