Pith Number

pith:JF4QBP7M

pith:2023:JF4QBP7MQX6MRA7KS5IKUE4TOJ

not attested not anchored not stored refs pending

Analysis on Multi-robot Relative 6-DOF Pose Estimation Error Based on UWB Range

Haifeng Zhang, Pengcheng Zheng, Shuaikang Zheng, Xinran Li, Xudong Zou, Zhitian Li

arxiv:2309.15367 v1 · 2023-09-27 · 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{JF4QBP7MQX6MRA7KS5IKUE4TOJ}

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	2026-07-05T06:54:44.804301Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

497900bfec85fcc883ea9750aa13937257da98fe106c0061deab96d4c5ee8204

Aliases

arxiv: 2309.15367 · arxiv_version: 2309.15367v1 · doi: 10.48550/arxiv.2309.15367 · pith_short_12: JF4QBP7MQX6M · pith_short_16: JF4QBP7MQX6MRA7K · pith_short_8: JF4QBP7M

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/JF4QBP7MQX6MRA7KS5IKUE4TOJ \
  | 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: 497900bfec85fcc883ea9750aa13937257da98fe106c0061deab96d4c5ee8204

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "87fc1f4cdb5839342b983d98ad141973361efd31a1c87cf32d6c06c05c954606",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-27T02:40:46Z",
    "title_canon_sha256": "d10843d21d460fb254a5444a8ef5b737ad0bf8c6a6bc3e2e616a536f8e7c4d18"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.15367",
    "kind": "arxiv",
    "version": 1
  }
}