Pith Number

pith:ETDKUDCI

pith:2017:ETDKUDCII3KKUHFMK745JIX557

not attested not anchored not stored refs pending

Decentralized Collision-Free Control of Multiple Robots in 2D and 3D Spaces

Xiaotian Yang

arxiv:1709.05843 v1 · 2017-09-18 · cs.RO · cs.MA · cs.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{ETDKUDCII3KKUHFMK745JIX557}

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	2026-05-18T00:34:59.171111Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

24c6aa0c4846d4aa1cac57f9d4a2fdeff6931e623bb7e3a4d241fed179812669

Aliases

arxiv: 1709.05843 · arxiv_version: 1709.05843v1 · doi: 10.48550/arxiv.1709.05843 · pith_short_12: ETDKUDCII3KK · pith_short_16: ETDKUDCII3KKUHFM · pith_short_8: ETDKUDCI

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/ETDKUDCII3KKUHFMK745JIX557 \
  | 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: 24c6aa0c4846d4aa1cac57f9d4a2fdeff6931e623bb7e3a4d241fed179812669

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c1a0d0480b782b6f86fb9e06131d9c9378d4873b484901c5924e1613927d3db",
    "cross_cats_sorted": [
      "cs.MA",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-18T10:13:46Z",
    "title_canon_sha256": "7f0cf733a2a991f3aaba9232f1e07ea2fde20acb550260c60e9eb5c8e006c301"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.05843",
    "kind": "arxiv",
    "version": 1
  }
}