Pith Number

pith:YKQZ3PG4

pith:2018:YKQZ3PG4EUEPA4K5D7VYNXNTUV

not attested not anchored not stored refs pending

Improving the Modularity of AUV Control Systems using Behaviour Trees

Alexander Phillips, Andrea Munafo, Christopher Iliffe Sprague, \"Ozer \"Ozkahraman, Petter \"Ogren, Rachel Marlow

arxiv:1811.00426 v1 · 2018-11-01 · cs.RO · cs.AI · 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{YKQZ3PG4EUEPA4K5D7VYNXNTUV}

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	2026-05-18T00:01:44.484804Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c2a19dbcdc2508f0715d1feb86ddb3a577fb5608204fa0249319b299ba6798ae

Aliases

arxiv: 1811.00426 · arxiv_version: 1811.00426v1 · doi: 10.48550/arxiv.1811.00426 · pith_short_12: YKQZ3PG4EUEP · pith_short_16: YKQZ3PG4EUEPA4K5 · pith_short_8: YKQZ3PG4

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/YKQZ3PG4EUEPA4K5D7VYNXNTUV \
  | 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: c2a19dbcdc2508f0715d1feb86ddb3a577fb5608204fa0249319b299ba6798ae

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f2f9752f6ac32fa8fd149cf32a995f5d59a378060dd6d893abbdd90cced4b69a",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-11-01T15:13:49Z",
    "title_canon_sha256": "84a596090bb82323131d6689d01c35099a2cb95d558b200f539615296f2cc3fd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1811.00426",
    "kind": "arxiv",
    "version": 1
  }
}