Pith Number

pith:ZTAOBW5U

pith:2020:ZTAOBW5UFOTWKPXK2VD6DOM4ME

not attested not anchored not stored refs pending

STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times

Kyle Brown, Mac Schwager, Martin Sehr, Mykel J. Kochenderfer, Oriana Peltzer

arxiv:2004.08025 v2 · 2020-04-17 · cs.RO · cs.MA

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZTAOBW5UFOTWKPXK2VD6DOM4ME}

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	2026-07-05T03:09:55.373639Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ccc0e0dbb42ba7653eead547e1b99c611acefcd6167c07a7c09f857286a1b265

Aliases

arxiv: 2004.08025 · arxiv_version: 2004.08025v2 · doi: 10.48550/arxiv.2004.08025 · pith_short_12: ZTAOBW5UFOTW · pith_short_16: ZTAOBW5UFOTWKPXK · pith_short_8: ZTAOBW5U

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/ZTAOBW5UFOTWKPXK2VD6DOM4ME \
  | 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: ccc0e0dbb42ba7653eead547e1b99c611acefcd6167c07a7c09f857286a1b265

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6cfaade0e67048b59e0dbe804e30820297a66af74582ebbf76709acc41ffbbaa",
    "cross_cats_sorted": [
      "cs.MA"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-04-17T01:50:18Z",
    "title_canon_sha256": "e4e109878ff4e9ddb5393d85804c5412f338c97387019c1632cba13f1fa945f4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.08025",
    "kind": "arxiv",
    "version": 2
  }
}