Pith Number

pith:6WXNSCDF

pith:2021:6WXNSCDFFDD65T4IXVPJDKVDVJ

not attested not anchored not stored refs pending

Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios

Hongyi Sun, Jiangtao Hu, Jinghao Miao, Jinyun Zhou, Yajia Zhang

arxiv:2112.02133 v1 · 2021-12-03 · 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{6WXNSCDFFDD65T4IXVPJDKVDVJ}

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	2026-07-05T03:37:49.207641Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f5aed9086528c7eecf88bd5e91aaa3aa45174c16ccf79e208778c7d9117e93c2

Aliases

arxiv: 2112.02133 · arxiv_version: 2112.02133v1 · doi: 10.48550/arxiv.2112.02133 · pith_short_12: 6WXNSCDFFDD6 · pith_short_16: 6WXNSCDFFDD65T4I · pith_short_8: 6WXNSCDF

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/6WXNSCDFFDD65T4IXVPJDKVDVJ \
  | 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: f5aed9086528c7eecf88bd5e91aaa3aa45174c16ccf79e208778c7d9117e93c2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "23412e424f46dfc7096f18796c273401589e2c7a8d1751d8370d9d0e49d78db2",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-12-03T19:28:50Z",
    "title_canon_sha256": "9656ef5b2af6f7beb349c92c0c1e28a3a6d9cc83b130c65db1ecbf78e610f59b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2112.02133",
    "kind": "arxiv",
    "version": 1
  }
}