{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:3RPXEKFEJR2F4B3B7LBMVWLEZV","short_pith_number":"pith:3RPXEKFE","schema_version":"1.0","canonical_sha256":"dc5f7228a44c745e0761fac2cad964cd7151374070aff6a47f3e5ac808b25558","source":{"kind":"arxiv","id":"2407.00414","version":1},"attestation_state":"computed","paper":{"title":"Safe and Stable Filter Design Using a Relaxed Compatibitlity Control Barrier -- Lyapunov Condition","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Antonis Papachristodoulou, Han Wang, Kostas Margellos","submitted_at":"2024-06-29T11:43:05Z","abstract_excerpt":"In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability without the need for an asymptotically stabilizing control law. Feasibility of the proposed program is ensured under a mild regularity condition, termed relaxed compatibility between the CLF and CBF. The resulting optimal control law is guaranteed to be locally Lipschitz continuous. We also analyze the closed-loop behaviour by characterizing the equilibrium po"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2407.00414","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"eess.SY","submitted_at":"2024-06-29T11:43:05Z","cross_cats_sorted":["cs.SY","math.OC"],"title_canon_sha256":"9786b7ee549cf92ccf9228eaf98367a7daacc127b551c907895bd5067485ede0","abstract_canon_sha256":"ec6d18c8b94c4d99851228781f7e8fd31d734ac74512e65751af9a4c60178e20"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:38:19.422274Z","signature_b64":"6g77UVeSj1hcMM0R2wzZ/kY8jlSCGAHXNsR/SRgi0JLLLF2BK6O/g9yfE1N5ofAes0lK1nGYnz5B8LCGjjQLAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dc5f7228a44c745e0761fac2cad964cd7151374070aff6a47f3e5ac808b25558","last_reissued_at":"2026-07-05T08:38:19.421880Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:38:19.421880Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Safe and Stable Filter Design Using a Relaxed Compatibitlity Control Barrier -- Lyapunov Condition","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.SY","math.OC"],"primary_cat":"eess.SY","authors_text":"Antonis Papachristodoulou, Han Wang, Kostas Margellos","submitted_at":"2024-06-29T11:43:05Z","abstract_excerpt":"In this paper, we propose a quadratic programming-based filter for safe and stable controller design, via a Control Barrier Function (CBF) and a Control Lyapunov Function (CLF). Our method guarantees safety and local asymptotic stability without the need for an asymptotically stabilizing control law. Feasibility of the proposed program is ensured under a mild regularity condition, termed relaxed compatibility between the CLF and CBF. The resulting optimal control law is guaranteed to be locally Lipschitz continuous. We also analyze the closed-loop behaviour by characterizing the equilibrium po"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.00414","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.00414/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2407.00414","created_at":"2026-07-05T08:38:19.421941+00:00"},{"alias_kind":"arxiv_version","alias_value":"2407.00414v1","created_at":"2026-07-05T08:38:19.421941+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.00414","created_at":"2026-07-05T08:38:19.421941+00:00"},{"alias_kind":"pith_short_12","alias_value":"3RPXEKFEJR2F","created_at":"2026-07-05T08:38:19.421941+00:00"},{"alias_kind":"pith_short_16","alias_value":"3RPXEKFEJR2F4B3B","created_at":"2026-07-05T08:38:19.421941+00:00"},{"alias_kind":"pith_short_8","alias_value":"3RPXEKFE","created_at":"2026-07-05T08:38:19.421941+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":0,"sample":[{"citing_arxiv_id":"2606.07892","citing_title":"Verification Framework for the Union of Control Barrier Functions","ref_index":9,"is_internal_anchor":false}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV","json":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV.json","graph_json":"https://pith.science/api/pith-number/3RPXEKFEJR2F4B3B7LBMVWLEZV/graph.json","events_json":"https://pith.science/api/pith-number/3RPXEKFEJR2F4B3B7LBMVWLEZV/events.json","paper":"https://pith.science/paper/3RPXEKFE"},"agent_actions":{"view_html":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV","download_json":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV.json","view_paper":"https://pith.science/paper/3RPXEKFE","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2407.00414&json=true","fetch_graph":"https://pith.science/api/pith-number/3RPXEKFEJR2F4B3B7LBMVWLEZV/graph.json","fetch_events":"https://pith.science/api/pith-number/3RPXEKFEJR2F4B3B7LBMVWLEZV/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV/action/storage_attestation","attest_author":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV/action/author_attestation","sign_citation":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV/action/citation_signature","submit_replication":"https://pith.science/pith/3RPXEKFEJR2F4B3B7LBMVWLEZV/action/replication_record"}},"created_at":"2026-07-05T08:38:19.421941+00:00","updated_at":"2026-07-05T08:38:19.421941+00:00"}