Pith Number

pith:NURLDPYA

pith:2018:NURLDPYAJZOJOOVV5NSUWT33O4

not attested not anchored not stored refs pending

Structure-Preserving Constrained Optimal Trajectory Planning of a Wheeled Inverted Pendulum

Boris Lohmann, Debasish Chatterjee, Felix Anhalt, Karmvir Singh Phogat, Klaus Albert, Ravi N Banavar

arxiv:1811.12819 v2 · 2018-11-29 · eess.SY · cs.RO · 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{NURLDPYAJZOJOOVV5NSUWT33O4}

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	2026-06-04T20:13:44.577574Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6d22b1bf004e5c973ab5eb654b4f7b772f0874f226f1c837b846800cec62606a

Aliases

arxiv: 1811.12819 · arxiv_version: 1811.12819v2 · doi: 10.48550/arxiv.1811.12819 · pith_short_12: NURLDPYAJZOJ · pith_short_16: NURLDPYAJZOJOOVV · pith_short_8: NURLDPYA

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/NURLDPYAJZOJOOVV5NSUWT33O4 \
  | 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: 6d22b1bf004e5c973ab5eb654b4f7b772f0874f226f1c837b846800cec62606a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "209b3b716158a972f5d49c9aaac269af7b1aaf98bff9094c59db88bd3e14dfc5",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2018-11-29T15:24:51Z",
    "title_canon_sha256": "707b310e91ef8fcd09d5a93a86c36062c0c8477645ec919ef27682ad46e8c488"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1811.12819",
    "kind": "arxiv",
    "version": 2
  }
}