Pith Number

pith:VBHLAVAL

pith:2020:VBHLAVAL6EFQRMQARB2S5GZI3J

not attested not anchored not stored refs pending

A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift

Cesar Cadena, Juan Nieto, Lionel Ott, Lukas Schmid, Roland Siegwart, Victor Reijgwart

arxiv:2010.09859 v2 · 2020-10-19 · 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{VBHLAVAL6EFQRMQARB2S5GZI3J}

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	2026-07-05T02:32:01.263771Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a84eb0540bf10b08b20088752e9b28da7df166ac9ecfbb1e30539c00351bfc2c

Aliases

arxiv: 2010.09859 · arxiv_version: 2010.09859v2 · doi: 10.48550/arxiv.2010.09859 · pith_short_12: VBHLAVAL6EFQ · pith_short_16: VBHLAVAL6EFQRMQA · pith_short_8: VBHLAVAL

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/VBHLAVAL6EFQRMQARB2S5GZI3J \
  | 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: a84eb0540bf10b08b20088752e9b28da7df166ac9ecfbb1e30539c00351bfc2c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1a6b6166d99dcf128e2ecf7b676a5ed5b95239967d0c5bb20866f2d97febac58",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-10-19T20:58:19Z",
    "title_canon_sha256": "8778a49c921757a3e8bc0ec73c7b01df2f350914e4f692f727177ec20fc254ae"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2010.09859",
    "kind": "arxiv",
    "version": 2
  }
}