Pith Number

pith:UBBBCLOR

pith:2021:UBBBCLORR46HXY34MA2X2O5PBT

not attested not anchored not stored refs pending

A Survey of Distributed Optimization Methods for Multi-Robot Systems

Javier Yu, Mac Schwager, Ola Shorinwa, Trevor Halsted

arxiv:2103.12840 v1 · 2021-03-23 · cs.RO

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\usepackage{pith}
\pithnumber{UBBBCLORR46HXY34MA2X2O5PBT}

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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.

Cited by

7 papers in Pith

Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM

Semiglobal Input-Delay Tolerance Algorithm for Distributed Nonconvex Optimization of Networked Nonlinear Systems

Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimization

Safe Decentralized Density Control of Multi-Robot Systems using PDE-Constrained Optimization with State Constraints

Distributed Pose Graph Optimization via Continuous Riemannian Dynamics

Receipt and verification

First computed	2026-07-05T02:25:52.563279Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a042112dd18f3c7be37c60357d3baf0cf147ebda3f7cb9be523a7dad080ef658

Aliases

arxiv: 2103.12840 · arxiv_version: 2103.12840v1 · doi: 10.48550/arxiv.2103.12840 · pith_short_12: UBBBCLORR46H · pith_short_16: UBBBCLORR46HXY34 · pith_short_8: UBBBCLOR

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/UBBBCLORR46HXY34MA2X2O5PBT \
  | 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: a042112dd18f3c7be37c60357d3baf0cf147ebda3f7cb9be523a7dad080ef658

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "29f277e44fb438c891ceebe47c269a5a1e0b32749a941f808e7201b9b6dd8da8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-23T21:05:29Z",
    "title_canon_sha256": "57324641c148cef8f3f50a5ba3464c3685b8af063313bd87fd55700fc6732fce"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.12840",
    "kind": "arxiv",
    "version": 1
  }
}