Pith Number

pith:PT6V2DHD

pith:2024:PT6V2DHDPG43OYJOA3OXTHENK6

not attested not anchored not stored refs pending

CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments

Jiri Horyna, Martin Saska, Matej Petrlik, Petr Stepan, Petr Stibinger, Robert Penicka, Tomas Baca, Vit Kratky

arxiv:2412.00603 v2 · 2024-11-30 · 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{PT6V2DHDPG43OYJOA3OXTHENK6}

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	2026-07-05T10:21:26.601670Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7cfd5d0ce379b9b7612e06dd799c8d57bd4c1b2035876db1ad46b1a81326940c

Aliases

arxiv: 2412.00603 · arxiv_version: 2412.00603v2 · doi: 10.48550/arxiv.2412.00603 · pith_short_12: PT6V2DHDPG43 · pith_short_16: PT6V2DHDPG43OYJO · pith_short_8: PT6V2DHD

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/PT6V2DHDPG43OYJOA3OXTHENK6 \
  | 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: 7cfd5d0ce379b9b7612e06dd799c8d57bd4c1b2035876db1ad46b1a81326940c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6bbf0c4186f79ce7d164aecbb903a1e88e244c5e49e36517cc4d6faf78e5c77d",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-11-30T22:33:46Z",
    "title_canon_sha256": "a4544032f6652c971d5ec28693a7682a16d2a82c5b5d9040cb339d58118c6fdb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.00603",
    "kind": "arxiv",
    "version": 2
  }
}