Paper Citation Record · LEDGER

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots

As of 6 August 2026, this Paper Citation Record lists 35 of 35 outbound references and 1 inbound Pith citation observation for arXiv:2604.03200.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2604.03200 v1

Coverage vector

measured 35 of 35 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-13T18:45:07.995696Z

measured 36 of 36 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-06T06:34:29.942622+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-01T19:21:46.149758Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

35 of 35 outbound references displayed

verified exact3
verified fuzzy32
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation f6f43db5-d09d-4668-a5cb-81a581316db4 · outbound

This paper cites Templates and anchors: Neuromechanical hypotheses of legged locomotion on land.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Templates and anchors: Neuromechanical hypotheses of legged locomotion on land

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.766072Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation cd04cd08-6081-4334-b177-7de711373d89 · outbound

This paper cites Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.807421Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3cbf1cdf-57c1-4012-ad30-abfbab60d4d8 · outbound

This paper cites Terrain- adaptive, ALIP-based bipedal locomotion controller via model pre- dictive control and virtual constraints.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Terrain- adaptive, ALIP-based bipedal locomotion controller via model pre- dictive control and virtual constraints

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.736340Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e0c9fbba-faf6-4662-8323-b8571e7929dd · outbound

This paper cites Compliant leg behavior explains basic dynamics of walking and running.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Compliant leg behavior explains basic dynamics of walking and running

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.754574Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7130cec1-cb12-485f-99a3-02f701f0d341 · outbound

This paper cites Autonomous navigation of underactuated bipedal robots in height-constrained environments.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Autonomous navigation of underactuated bipedal robots in height-constrained environments

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.803070Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 8eddb3d5-565b-4c98-9e1d-980064d9715c · outbound

This paper cites 3-D underactuated bipedal walking via H-LIP based gait synthesis and stepping stabilization.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots 3-D underactuated bipedal walking via H-LIP based gait synthesis and stepping stabilization

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.713388Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7233d4bb-2cff-4588-b84b-1aff542084ef · outbound

This paper cites Centroidal dynamics of a humanoid robot.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Centroidal dynamics of a humanoid robot

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.750191Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3d5736ab-5f0a-410b-953b-1cdee1bc13d1 · outbound

This paper cites Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.717843Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4c56dd1d-0b38-4cd7-8481-4488cde79193 · outbound

This paper cites Variational-based optimal control of underactuated balancing for dynamic quadrupeds.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Variational-based optimal control of underactuated balancing for dynamic quadrupeds

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.699887Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 78e8f5df-acfa-4cac-bc04-06c7e10821c5 · outbound

This paper cites Representation-free model predictive control for dynamic motions in quadrupeds.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Representation-free model predictive control for dynamic motions in quadrupeds

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.722739Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9eaa4ff9-8a73-4674-9975-b1d04f3b8f04 · outbound

This paper cites Predictive control with indirect adaptive laws for payload transportation by quadrupedal robots.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Predictive control with indirect adaptive laws for payload transportation by quadrupedal robots

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.744857Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 17b0ccac-9950-4a40-b47b-c8e99c383155 · outbound

This paper cites Robust predictive control for quadrupedal locomotion: Learning to close the gap between reduced-and full-order models.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Robust predictive control for quadrupedal locomotion: Learning to close the gap between reduced-and full-order models

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.676854Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 10fabd49-3804-42b9-ba80-902bfc57c6a2 · outbound

This paper cites A nonlinear MPC framework for loco-manipulation of quadrupedal robots with non-negligible manipulator dynamics.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots A nonlinear MPC framework for loco-manipulation of quadrupedal robots with non-negligible manipulator dynamics

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.681266Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3c13753e-a60e-469f-937f-ee6304173447 · outbound

This paper cites Optimization-based control for dynamic legged robots.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Optimization-based control for dynamic legged robots

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.704141Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3f193ad8-e491-4b2f-bf06-46b4907b89cd · outbound

This paper cites Crocoddyl: An efficient and versatile framework for multi-contact optimal control.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Crocoddyl: An efficient and versatile framework for multi-contact optimal control

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.727270Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9d45b941-2e86-4d20-adfa-a5e2f4455215 · outbound

This paper cites ProxDDP: Proximal constrained trajectory optimiza- tion.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots ProxDDP: Proximal constrained trajectory optimiza- tion

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.708784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 63011336-a2f3-4dc2-b959-f5029512837b · outbound

This paper cites Safety barrier certificates for collisions-free multirobot systems.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Safety barrier certificates for collisions-free multirobot systems

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.798606Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ad9b9cfb-9072-49d7-b6eb-15b6a904e7d4 · outbound

This paper cites Multirobot adversarial resilience using control barrier functions.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Multirobot adversarial resilience using control barrier functions

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.793114Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1e5edcc1-624a-49c0-989d-2255e43c2661 · outbound

This paper cites Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.784828Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 8c95e143-74b0-4eb5-b965-4e38f99a4208 · outbound

This paper cites Multi- layered safety for legged robots via control barrier functions and model predictive control.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Multi- layered safety for legged robots via control barrier functions and model predictive control

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.811466Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ee6dffc3-0ff8-4554-9f10-c3344c709084 · outbound

This paper cites Safety-critical and distributed nonlinear predictive con- trollers for teams of quadrupedal robots.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Safety-critical and distributed nonlinear predictive con- trollers for teams of quadrupedal robots

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.775498Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a7872684-aa74-4464-b3ca-f5ee39e008f0 · outbound

This paper cites ADMM-based distributed MPC with control barrier functions for safe multi-robot quadrupedal locomotion.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots ADMM-based distributed MPC with control barrier functions for safe multi-robot quadrupedal locomotion

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-05-13T18:48:08.000277Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation d7110690-2e46-45bb-9497-f9ffbe7e4734 · outbound

This paper cites Layered control for cooperative locomotion of two quadrupedal robots: Centralized and distributed approaches.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Layered control for cooperative locomotion of two quadrupedal robots: Centralized and distributed approaches

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.758407Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c162d442-224c-43e8-b619-5638603b00aa · outbound

This paper cites Cooperative locomotion via supervi- sory predictive control and distributed nonlinear controllers.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Cooperative locomotion via supervi- sory predictive control and distributed nonlinear controllers

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.762250Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation b19887de-7af3-450d-9e9d-183de07159e2 · outbound

This paper cites Distributed data-driven predictive control for multi-agent collaborative legged locomotion.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Distributed data-driven predictive control for multi-agent collaborative legged locomotion

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.770345Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1d9ab2c6-2120-4a69-9fd0-149a61d5e2c3 · outbound

This paper cites Safety-critical coordination for cooperative legged locomotion via control barrier functions.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Safety-critical coordination for cooperative legged locomotion via control barrier functions

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.780036Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f8ac35c5-6d51-4687-9146-0c8c60c1674b · outbound

This paper cites ACLM: ADMM- based distributed model predictive control for collaborative loco- manipulation.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots ACLM: ADMM- based distributed model predictive control for collaborative loco- manipulation

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-05-13T18:48:07.997292Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 28c92678-5c53-45f7-a55b-f2f832f2c15a · outbound

This paper cites Centralized model predictive control for collaborative loco-manipulation.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Centralized model predictive control for collaborative loco-manipulation

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.740625Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1dcdb43a-d262-4302-b829-8780abb9d98d · outbound

This paper cites Collaborative loco-manipulation for pick-and-place tasks with dynamic reward curriculum.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Collaborative loco-manipulation for pick-and-place tasks with dynamic reward curriculum

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-05-13T18:48:08.002949Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c2a53657-aa52-45c1-a883-8209ab62e13b · outbound

This paper cites Discrete-time control barrier function: High-order case and adaptive case.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Discrete-time control barrier function: High-order case and adaptive case

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.788961Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e415917f-60e3-4718-a3e3-0123777947e7 · outbound

This paper cites Robust stabilization of periodic gaits for quadrupedal locomotion via QP- based virtual constraint controllers.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Robust stabilization of periodic gaits for quadrupedal locomotion via QP- based virtual constraint controllers

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.731960Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation b2262773-1dc7-4110-8d4f-617fc6b836dd · outbound

This paper cites CasADi – A software framework for nonlinear optimization and optimal control.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots CasADi – A software framework for nonlinear optimization and optimal control

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.694587Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f2d3c0b9-296f-4f22-ae0b-c6861bc9422c · outbound

This paper cites On the implementation of an interior- point filter line-search algorithm for large-scale nonlinear program- ming.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots On the implementation of an interior- point filter line-search algorithm for large-scale nonlinear program- ming

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.690031Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 6bfda01e-c5c2-4101-af93-6ee7b35f54b0 · outbound

This paper cites Per-contact iteration method for solving contact dynamics.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Per-contact iteration method for solving contact dynamics

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.685508Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 68ebb601-9133-4a15-b644-567bf90c949a · outbound

This paper cites Safety-critical centralized nmpc for cooperative payload transporta- tion by two quadrupedal robots. [Online]. Available on YouTube: https://youtu.be/tsV o09eszCo.

Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots Safety-critical centralized nmpc for cooperative payload transporta- tion by two quadrupedal robots. [Online]. Available on YouTube: https://youtu.be/tsV o09eszCo

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-05-14T03:40:56.671748Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Pith citing papers

Observation f189daed-385c-4ebf-aa68-b064d9036876 · inbound

ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots cites this paper.

ADMM-Based Safety-Critical Distributed NMPC for Cooperative Transportation by Quadrupedal Robots Safety-Critical Centralized Nonlinear MPC for Cooperative Payload Transportation by Two Quadrupedal Robots

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-01T19:21:46.149758Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.