Pith Number

pith:NTGOVRP4

pith:2021:NTGOVRP4XWNZGP7CHJFZLIVEWO

not attested not anchored not stored refs pending

AIT* and EIT*: Asymmetric bidirectional sampling-based path planning

Jonathan D. Gammell, Marlin P. Strub

arxiv:2111.01877 v2 · 2021-11-02 · 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{NTGOVRP4XWNZGP7CHJFZLIVEWO}

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	2026-07-05T05:09:04.169633Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6ccceac5fcbd9b933fe23a4b95a2a4b3ab0676b503f87f5d0fed11ecae00adc7

Aliases

arxiv: 2111.01877 · arxiv_version: 2111.01877v2 · doi: 10.48550/arxiv.2111.01877 · pith_short_12: NTGOVRP4XWNZ · pith_short_16: NTGOVRP4XWNZGP7C · pith_short_8: NTGOVRP4

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/NTGOVRP4XWNZGP7CHJFZLIVEWO \
  | 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: 6ccceac5fcbd9b933fe23a4b95a2a4b3ab0676b503f87f5d0fed11ecae00adc7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0ad7a487164948e465599e2a71646f71bfb326bd60a7eae173704c92fe6126e4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-02T20:29:34Z",
    "title_canon_sha256": "83ea60653138f9d03927456f6c3abce8e74d0909c8cb37c1737410e2c78645b0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.01877",
    "kind": "arxiv",
    "version": 2
  }
}