Pith Number

pith:ZP4KYLDL

pith:2012:ZP4KYLDL3HYX2COUIGBFBOLGQW

not attested not anchored not stored refs pending

Optimal Multi-Robot Path Planning with LTL Constraints: Guaranteeing Correctness Through Synchronization

Alphan Ulusoy, Calin Belta, Stephen L. Smith

arxiv:1207.2415 v4 · 2012-07-10 · 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{ZP4KYLDL3HYX2COUIGBFBOLGQW}

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	2026-05-18T02:25:10.684057Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cbf8ac2c6bd9f17d09d4418250b966859f6706c3d03157e8b89dce82211380b7

Aliases

arxiv: 1207.2415 · arxiv_version: 1207.2415v4 · doi: 10.48550/arxiv.1207.2415 · pith_short_12: ZP4KYLDL3HYX · pith_short_16: ZP4KYLDL3HYX2COU · pith_short_8: ZP4KYLDL

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/ZP4KYLDL3HYX2COUIGBFBOLGQW \
  | 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: cbf8ac2c6bd9f17d09d4418250b966859f6706c3d03157e8b89dce82211380b7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7eed8e5670a5f44633d4658950a7d5de2ce4ff59bc295ed0a202ffa00dc4ec95",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2012-07-10T17:20:32Z",
    "title_canon_sha256": "b4e1512b5c26415beb0e717342c6d122b8d297b200e48c6d3ec67c65a45b787b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1207.2415",
    "kind": "arxiv",
    "version": 4
  }
}