Pith Number

pith:XKZTJ3X2

pith:2026:XKZTJ3X2BGSWOFL6TYEYVXXR2H

not attested not anchored not stored refs pending

Cooperative-ORCA*: Real-Time Proactive Deadlock Avoidance for Continuous-Space Multi-Agent Navigation

Andy Li, Hongkun Lyu, Jiaqi Chen, Junfeng Wu, Kevin Zheng

arxiv:2606.22757 v1 · 2026-06-22 · 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{XKZTJ3X2BGSWOFL6TYEYVXXR2H}

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	2026-06-23T02:13:46.415899Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bab334eefa09a567157e9e098adef1d1d722647a4d8963a97487fef9cea303fa

Aliases

arxiv: 2606.22757 · arxiv_version: 2606.22757v1 · doi: 10.48550/arxiv.2606.22757 · pith_short_12: XKZTJ3X2BGSW · pith_short_16: XKZTJ3X2BGSWOFL6 · pith_short_8: XKZTJ3X2

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/XKZTJ3X2BGSWOFL6TYEYVXXR2H \
  | 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: bab334eefa09a567157e9e098adef1d1d722647a4d8963a97487fef9cea303fa

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9ab5faab1f13c574b2ae0b72265aa1b7714850992172b0117cc0e5938520e67b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-22T01:56:19Z",
    "title_canon_sha256": "39fca2ee6e409c6a80ff5c63793387b8964f51019291b2bba18b74b3e6e0d3aa"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.22757",
    "kind": "arxiv",
    "version": 1
  }
}