{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2016:CMLR3WCEDEF5SFC7VPD2X2CRZJ","short_pith_number":"pith:CMLR3WCE","schema_version":"1.0","canonical_sha256":"13171dd844190bd9145fabc7abe851ca7ae8871f4e8f9b52fb6f36fe73036329","source":{"kind":"arxiv","id":"1609.00651","version":1},"attestation_state":"computed","paper":{"title":"Safety Barrier Certificates for Heterogeneous Multi-Robot Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"Aaron Ames, Li Wang, Magnus Egerstedt","submitted_at":"2016-09-02T16:02:16Z","abstract_excerpt":"This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier functions (CBFs) which guarantee forward invariance of a safe set; these yield safety barrier certificates in the context of heterogeneous robot dynamics subject to acceleration bounds. Moreover, safety barrier certificates are extended to a distributed control framework, wherein neighboring agent dynamics are unknown, through local parameter identification. "},"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":"1609.00651","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-09-02T16:02:16Z","cross_cats_sorted":["math.OC"],"title_canon_sha256":"4a249badf5b19c2e06c141b6a3a183c90869c4c5e296b4cc9211e468e2f8be2b","abstract_canon_sha256":"3765231a8bdf60388d1060d2e43e0bcaae7a41b378d118e8d671fe240ce3f78a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:06:23.508370Z","signature_b64":"IHxywF+ZTOo/OCa0SRS/wzLUYiKFSTJC+vo9WqhHqaCL/hpxFbz2YKNSBna68fC1fspPyO5Ap0puGI/6G86pCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"13171dd844190bd9145fabc7abe851ca7ae8871f4e8f9b52fb6f36fe73036329","last_reissued_at":"2026-05-18T01:06:23.507887Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:06:23.507887Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Safety Barrier Certificates for Heterogeneous Multi-Robot Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["math.OC"],"primary_cat":"cs.RO","authors_text":"Aaron Ames, Li Wang, Magnus Egerstedt","submitted_at":"2016-09-02T16:02:16Z","abstract_excerpt":"This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier functions (CBFs) which guarantee forward invariance of a safe set; these yield safety barrier certificates in the context of heterogeneous robot dynamics subject to acceleration bounds. Moreover, safety barrier certificates are extended to a distributed control framework, wherein neighboring agent dynamics are unknown, through local parameter identification. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1609.00651","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":""},"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":"1609.00651","created_at":"2026-05-18T01:06:23.507967+00:00"},{"alias_kind":"arxiv_version","alias_value":"1609.00651v1","created_at":"2026-05-18T01:06:23.507967+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1609.00651","created_at":"2026-05-18T01:06:23.507967+00:00"},{"alias_kind":"pith_short_12","alias_value":"CMLR3WCEDEF5","created_at":"2026-05-18T12:30:09.641336+00:00"},{"alias_kind":"pith_short_16","alias_value":"CMLR3WCEDEF5SFC7","created_at":"2026-05-18T12:30:09.641336+00:00"},{"alias_kind":"pith_short_8","alias_value":"CMLR3WCE","created_at":"2026-05-18T12:30:09.641336+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ","json":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ.json","graph_json":"https://pith.science/api/pith-number/CMLR3WCEDEF5SFC7VPD2X2CRZJ/graph.json","events_json":"https://pith.science/api/pith-number/CMLR3WCEDEF5SFC7VPD2X2CRZJ/events.json","paper":"https://pith.science/paper/CMLR3WCE"},"agent_actions":{"view_html":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ","download_json":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ.json","view_paper":"https://pith.science/paper/CMLR3WCE","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1609.00651&json=true","fetch_graph":"https://pith.science/api/pith-number/CMLR3WCEDEF5SFC7VPD2X2CRZJ/graph.json","fetch_events":"https://pith.science/api/pith-number/CMLR3WCEDEF5SFC7VPD2X2CRZJ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ/action/storage_attestation","attest_author":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ/action/author_attestation","sign_citation":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ/action/citation_signature","submit_replication":"https://pith.science/pith/CMLR3WCEDEF5SFC7VPD2X2CRZJ/action/replication_record"}},"created_at":"2026-05-18T01:06:23.507967+00:00","updated_at":"2026-05-18T01:06:23.507967+00:00"}