{"as_of":"2026-08-21T08:13:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:546fa44a5ca9a5588135c1f759209532a64579745bc9f7996935e6e1bb3c6a41","coverage":[{"denominator":30,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":30,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-16T11:21:16.681970Z","state":"measured"},{"denominator":30,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":30,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-21T06:32:19.484+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/2504.15850/citation-record","integrity":"/paper/2504.15850/integrity","json":"/paper/2504.15850/citation-record.json","paper":"/paper/2504.15850"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.120709Z","title":"Cooperative large area surveillance with a team of aerial mobile robots for long endurance missions,","venue":null,"work_id":"b50a0933-f753-4525-94c7-4644380bff09","year":2013},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.543396Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:5541872fcb1b1ae5559daf22fb99dfebd0a8c85991ea508d9f01829fb5284105","observation_id":"6331f5b7-c2c3-4e27-80d1-47578ca3240a","resolution":{"observed_at":"2026-08-16T11:21:17.126276Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.549179Z","title":"An informative path planning framework for uav-based terrain monitoring,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.549179Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:405dd7a869c338ed926622c5c3df3ea35642c31d037ba769e753b80d1e621eaf","observation_id":"3790b34d-7602-437c-bae6-63e67dceaba0","resolution":{"observed_at":"2026-08-16T11:21:16.549179Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.092030Z","title":"Graph-based path planning for autonomous robotic exploration in subterranean environments,","venue":null,"work_id":"258ab51c-4038-48b1-a8fa-eb1b1a1c364a","year":2019},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.554811Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:3b4dd7f394db9b13b8d06e54e3bb569f8b273a91a97252ca2404cd38d0ee4f17","observation_id":"501a9c54-ed59-4a09-9b06-cfc727052f6b","resolution":{"observed_at":"2026-08-16T11:21:17.097327Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.076638Z","title":"Online informative path planning for active information gathering of a 3d surface,","venue":null,"work_id":"b7d327c0-5998-471c-a777-15c160800d31","year":2021},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.559822Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:7b26aacfe3e2d24508d811c295513aadf6153e287cd0a304df03764e1ba6ab33","observation_id":"2740b3be-be22-4e74-9d15-59c3159367c2","resolution":{"observed_at":"2026-08-16T11:21:17.081787Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.060947Z","title":"The open motion planning library,","venue":null,"work_id":"183e59b6-bce4-4b01-8e31-18f91398a578","year":2012},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.564650Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:f1afb9653b5338bc2fefdb874028a9e74ac73b1a2f2819fb52413a9272dd65a4","observation_id":"9ffa9595-f86e-4748-bdcd-d86ad771578d","resolution":{"observed_at":"2026-08-16T11:21:17.066139Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.044850Z","title":"Cerberus in the darpa subterranean challenge,","venue":null,"work_id":"1dd9b2b2-663d-4350-9f17-f404761b1a5c","year":2022},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.569621Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:f0e87742676bf9b443b0cefe8ef0a76cafc8388be0055b820806fe7054246aa1","observation_id":"d8fdb46c-a8e1-4ed5-a5a5-67676052394b","resolution":{"observed_at":"2026-08-16T11:21:17.049794Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.028036Z","title":"Present and future of SLAM in extreme environments: The DARPA subt challenge,","venue":null,"work_id":"529129ee-eab5-45f3-b661-a8eed55646b7","year":2024},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.574996Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:c534eae5c16169ab3177b1c8bd1ede575817d4498dda5d22d3ffc6267654593d","observation_id":"595598a2-4f3c-4b94-a822-f4f8b572ef2d","resolution":{"observed_at":"2026-08-16T11:21:17.033647Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:17.011703Z","title":"Nanomap: Fast, uncertainty-aware proximity queries with lazy search over local 3d data,","venue":null,"work_id":"078fcbc9-47a4-448b-85cf-ead71ac8f9f1","year":2018},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.579700Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:83002c305d2541bdc957dcdfcd86d877211da299b07e3e977da889e1f2fcffc1","observation_id":"e11478b2-fce8-4bce-92f3-5309d4507e92","resolution":{"observed_at":"2026-08-16T11:21:17.017069Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.996876Z","title":"Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments,","venue":null,"work_id":"ee203f20-a3fd-4e1d-b08f-b3363ea41038","year":2019},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.584302Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:5c89085e9ffd50836851add5bf39480b43bfd70f503fd064235b7a42154406cc","observation_id":"b46c7a76-ec06-49dc-adb1-6b8fb6cb70a0","resolution":{"observed_at":"2026-08-16T11:21:17.001934Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.983029Z","title":"Swarm of micro flying robots in the wild,","venue":null,"work_id":"8c606010-cd37-42d7-ab5c-0872eaa28ded","year":2022},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.588926Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:32ca8a3d0f33375f8e976dbffaf8364c04e11699133c043889a310c33ca620ee","observation_id":"9962fe30-3162-47bd-aee5-489b3a5c88c1","resolution":{"observed_at":"2026-08-16T11:21:16.987143Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.593772Z","title":"Control barrier function based quadratic programs for safety critical systems,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.593772Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:624d6567e9cf4803a5386ac157dffc2183d0ad6031fa7226a681425177b97c54","observation_id":"ce433857-b96c-48a5-aa94-4844656eb704","resolution":{"observed_at":"2026-08-16T11:21:16.593772Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.598415Z","title":"A predictive safety filter for learning-based control of constrained nonlinear dynamical systems,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.598415Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:1a313147c7344c63d553b112fcc1b32da80664ba083efd16d0a691510b15473c","observation_id":"3be44697-4482-4389-8b77-3ac79bc6a745","resolution":{"observed_at":"2026-08-16T11:21:16.598415Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.948887Z","title":"Safety-critical control of a 3d quadrotor with range-limited sensing,","venue":null,"work_id":"c582c45f-8d11-49ff-8e97-df9e1327eddd","year":2016},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.603716Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:b7b56459e20d2d771e15f4ec187179cd81d9ab6bcd510d0dd0b19da04fa4cd68","observation_id":"34fc080b-3ca2-470a-b21d-9d2953b6d61f","resolution":{"observed_at":"2026-08-16T11:21:16.953246Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.608639Z","title":"Safe control synthesis for multicopter via control barrier function backstepping,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.608639Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:06c8585ce81d32be3834c69c35f1141fa549dded0aba290acc1ef94371495a97","observation_id":"2113db2e-6144-436a-ade3-659db7abd4db","resolution":{"observed_at":"2026-08-16T11:21:16.608639Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.613212Z","title":"Control barrier functions in dynamic uavs for kinematic obstacle avoidance: A col- lision cone approach,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.613212Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:5204fd75206941aa5447a65379dae4c4396c05ff91d5360e1f15f438a34ead26","observation_id":"d4108a98-0436-4299-b9fa-d90d79ee113c","resolution":{"observed_at":"2026-08-16T11:21:16.613212Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2409.01458","last_updated":"2025-04-22T13:45:16Z","snapshot_observed_at":"2026-08-16T13:21:58.505071Z","submitted_at":"2024-09-02T20:41:37Z","title":"Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic Environments","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2409.01458","snapshot_observed_at":"2026-08-16T11:21:16.618397Z","title":"Time-varying soft-maximum barrier functions for safety in unmapped and dynamic environments,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.618397Z"},"links":{"cited_paper":"/paper/2409.01458","citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:0387dab971f7f45c56952ccac5168b0004dd1f228b67f517e3ff3b40e4bc8e83","observation_id":"4f2b82db-adf0-4b9b-9621-f91066aff728","resolution":{"observed_at":"2026-08-16T11:21:16.618397Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.623775Z","title":"Learning safe, generalizable perception-based hybrid control with certificates,","venue":null,"work_id":null,"year":1904},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.623775Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:025beb05546cc1098c1bdc5cfe32ac1c58c528f129c87d01132bd6ce3b3d801b","observation_id":"f8a34a43-025c-4496-b986-0e8baa2d131d","resolution":{"observed_at":"2026-08-16T11:21:16.623775Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.903863Z","title":"Neural control barrier functions for safe navigation,","venue":null,"work_id":"5cbf78f6-86ad-4892-bcd2-9b5918653879","year":2024},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.628735Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:ce58e665674ebabe73adfdf2e9edb32be0f106bc1ed72f0bf21a5626fdacffa1","observation_id":"0e690103-81f1-49cc-afc6-0ff908f01157","resolution":{"observed_at":"2026-08-16T11:21:16.908695Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.633124Z","title":"Dynamic control barrier function-based model predictive control to safety-critical obstacle-avoidance of mobile robot,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.633124Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:0879ac668e2b6c2abcdb741342d6b691b628d214636b4818f3483a44e5e76a74","observation_id":"4aeb1820-aa8a-4719-b4c9-6507aa6bd8aa","resolution":{"observed_at":"2026-08-16T11:21:16.633124Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2502.04101","last_updated":"2025-02-06T14:24:06Z","snapshot_observed_at":"2026-08-20T18:52:47.874279Z","submitted_at":"2025-02-06T14:24:06Z","title":"Safe Quadrotor Navigation using Composite Control Barrier Functions","version":1},"cited_work":{"arxiv_id":"2502.04101","doi":null,"metadata_source":"pith","pith_arxiv_id":"2502.04101","snapshot_observed_at":"2026-08-16T11:21:16.718868Z","title":"Safe Quadrotor Navigation using Composite Control Barrier Functions","venue":"cs.RO","work_id":"a27cb9d2-0e60-44ca-be40-aceb6a5dcfec","year":2025},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.637286Z"},"links":{"cited_paper":"/paper/2502.04101","citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:6d222c4bcd7c10fc32b6cc940ece4ee8d0328821c5139989dd6b4c0de6da28f8","observation_id":"a2159c08-e250-4592-97b7-8a5cc14159f1","resolution":{"observed_at":"2026-08-16T11:21:16.725845Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.642255Z","title":"Control barrier functions: Theory and applications,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.642255Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:cda5fcf321cb41e980a723a19671c6d8526bcb7e4a72c0b1ae7d51a6f1729959","observation_id":"3791ee86-62c0-41bb-81f0-8652a8c6c684","resolution":{"observed_at":"2026-08-16T11:21:16.642255Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.646104Z","title":"Exponential control barrier functions for enforcing high relative-degree safety-critical constraints,","venue":null,"work_id":null,"year":2016},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.646104Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:f91edc10a7b59b0bd6b8401f63477a8eb76a804f95f80d630f541fc33a013dab","observation_id":"bbadfe84-8c24-4957-9215-6153a56f7e22","resolution":{"observed_at":"2026-08-16T11:21:16.646104Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.856961Z","title":"Composing control barrier functions for complex safety specifications,","venue":null,"work_id":"04d57bee-4554-43f2-bd77-7a19f58f3003","year":2023},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.650555Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:4c331469306c6bbf83060097bcd85688d274f2710fb1f918a7fb85b8b0f361ae","observation_id":"9c277735-e6e4-4f52-b7bc-de0e1e14de22","resolution":{"observed_at":"2026-08-16T11:21:16.862022Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.841680Z","title":"Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms,","venue":null,"work_id":"cb171301-a032-44d6-a180-2291f01ad34c","year":2015},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.654501Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:893d16a7b6255b67d0a75a88120e4a647696a427da2f5b6ac0850c094673ddd1","observation_id":"5e9a0978-c961-43a7-a252-c5af45df4776","resolution":{"observed_at":"2026-08-16T11:21:16.846848Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.658841Z","title":"Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.658841Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:2d43d75b678d8728a62fe172451e2de1c03dc1ff19dc9c2c30603d22640c277b","observation_id":"5d7e79d1-a9c5-42ff-b20b-af20cb747fe0","resolution":{"observed_at":"2026-08-16T11:21:16.658841Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.663541Z","title":"qpOASES: A parametric active-set algorithm for quadratic program- ming,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.663541Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:ae7ef7416b1732972669bc9879c0a2b5d0d9b4b9b321b4a7ed462a283da39f10","observation_id":"55a9cfdc-f8bf-4422-b777-998b01a368b0","resolution":{"observed_at":"2026-08-16T11:21:16.663541Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.803958Z","title":"An online active set strategy to overcome the limitations of explicit mpc,","venue":null,"work_id":"0da303d6-ade5-46c9-97c2-5127ddcc54ac","year":2008},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.667654Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:40537c5b3ba36c748bd3348a41d0443e7c00be37dab19e7de43d3e4d9fd822cf","observation_id":"9f415a87-63f7-4a9f-b751-b8b890169465","resolution":{"observed_at":"2026-08-16T11:21:16.809733Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.787360Z","title":"Control barrier functions and input-to-state safety with application to auto- mated vehicles,","venue":null,"work_id":"c2aec2fd-85ed-4647-9b84-bb2ced893d6e","year":2023},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.671720Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:4db065f445b2375e12a1372f128b9ad51cc74be33b7f84d408d234df5a912869","observation_id":"fd6068ae-a553-4548-836d-db76cc55017d","resolution":{"observed_at":"2026-08-16T11:21:16.792423Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.770945Z","title":"Multi-step model pre- dictive safety filters: Reducing chattering by increasing the prediction horizon,","venue":null,"work_id":"cdc58f40-ace4-4f75-885d-62b7e9d6f2ba","year":2023},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.676557Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:b2190e93e57fcd1d504c08e818539d1b97dd9a3b8eb321b55ac292b94095917c","observation_id":"56849c9b-710c-40b2-9927-63ff25bc1bb8","resolution":{"observed_at":"2026-08-16T11:21:16.776296Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:21:16.754575Z","title":"Robust visual in- ertial odometry using a direct ekf-based approach,","venue":null,"work_id":"648bc0d0-b8b4-470e-b425-58b42ec00d3d","year":2015},"citing_paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-16T11:21:16.681970Z"},"links":{"citing_paper":"/paper/2504.15850"},"observation_digest":"sha256:0654c1b4685b370adc058d7c05f14441c32473184e7ca871253e67f9f593f2f7","observation_id":"59742d66-c631-4460-ace8-5c0232290c32","resolution":{"observed_at":"2026-08-16T11:21:16.759378Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"2504.15850","last_updated":"2025-04-22T12:45:11Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-16T11:14:13.875188Z","submitted_at":"2025-04-22T12:45:11Z","title":"Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions"},"reference_resolution":{"displayed":30,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":12,"verified_exact":1,"verified_fuzzy":17},"total_outbound_references":30},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-21T06:32:19.484+00:00","source":"crossref"},{"observed_at":"2026-08-21T06:32:16.066871+00:00","source":"retraction_watch"}],"thesis":"As of 21 August 2026, this Paper Citation Record lists 30 of 30 outbound references and 0 inbound Pith citation observations for arXiv:2504.15850."}