{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:4JK4XYL5NTOLQ4DB6NAWXB636B","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"2d031497d115c5270e47475fb9167329dcf026bbe74c24645ceabed97d84890e","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-06T14:33:49Z","title_canon_sha256":"22b82572c1e8dbab6203ca56ccd9270a1f790a105fff64ce0fbe36cb4fa0329d"},"schema_version":"1.0","source":{"id":"2503.05836","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.05836","created_at":"2026-07-05T10:26:47Z"},{"alias_kind":"arxiv_version","alias_value":"2503.05836v1","created_at":"2026-07-05T10:26:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.05836","created_at":"2026-07-05T10:26:47Z"},{"alias_kind":"pith_short_12","alias_value":"4JK4XYL5NTOL","created_at":"2026-07-05T10:26:47Z"},{"alias_kind":"pith_short_16","alias_value":"4JK4XYL5NTOLQ4DB","created_at":"2026-07-05T10:26:47Z"},{"alias_kind":"pith_short_8","alias_value":"4JK4XYL5","created_at":"2026-07-05T10:26:47Z"}],"graph_snapshots":[{"event_id":"sha256:1dc8d77b18b8fd6fb28cebc016fa84841a6c9e7cff2e6937f7014f28e04c03e2","target":"graph","created_at":"2026-07-05T10:26:47Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2503.05836/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents significant challenges due to dynamic obstacles, communication constraints, and the complexity of legged locomotion. This paper proposes a distributed model predictive control framework for multi-quadruped formation control, integrating Control Lyapunov Functions to ensure formation stability and Control Barrier Functions for decentralized safety enforcement","authors_text":"Hongyu Song, Wei Pan, Weishu Zhan, Zheng Liang","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-06T14:33:49Z","title":"Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.05836","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:015fa7b21ba63be5bd1337e1ec548fc8cfac1e0b449961c8b8a0ee1016c9ce20","target":"record","created_at":"2026-07-05T10:26:47Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"2d031497d115c5270e47475fb9167329dcf026bbe74c24645ceabed97d84890e","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-03-06T14:33:49Z","title_canon_sha256":"22b82572c1e8dbab6203ca56ccd9270a1f790a105fff64ce0fbe36cb4fa0329d"},"schema_version":"1.0","source":{"id":"2503.05836","kind":"arxiv","version":1}},"canonical_sha256":"e255cbe17d6cdcb87061f3416b87dbf06eecbc14fcd39ff23b97b34e7fd7db01","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e255cbe17d6cdcb87061f3416b87dbf06eecbc14fcd39ff23b97b34e7fd7db01","first_computed_at":"2026-07-05T10:26:47.754467Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:26:47.754467Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lyq/UmRWH1bMHsLJr1lMfgg8hwC7hbkaDojCujmfzFag9evSQsGTuXq1hs6skPNgqReUrvpqiZw+qidbjJGCBg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:26:47.754981Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.05836","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:015fa7b21ba63be5bd1337e1ec548fc8cfac1e0b449961c8b8a0ee1016c9ce20","sha256:1dc8d77b18b8fd6fb28cebc016fa84841a6c9e7cff2e6937f7014f28e04c03e2"],"state_sha256":"1ed4818776604c2faec79ee79585c08b7bdb9c1b441bd9ef98d344c8d988ac73"}