{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:EB4CYIPRUY2RXUBFYEXRSCTS6M","short_pith_number":"pith:EB4CYIPR","canonical_record":{"source":{"id":"1903.06972","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-16T18:48:38Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba47ef750dba90bedc5c30e5ad93c88c58caa159e3ff3087da6417d28f52aeab","abstract_canon_sha256":"c26278bb83ac8e01b1bf10866ad7fde0159702342ca51853ba97856da0532da4"},"schema_version":"1.0"},"canonical_sha256":"20782c21f1a6351bd025c12f190a72f32cd47b659eda49e937fdb5120357e687","source":{"kind":"arxiv","id":"1903.06972","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.06972","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"arxiv_version","alias_value":"1903.06972v2","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.06972","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_12","alias_value":"EB4CYIPRUY2R","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_16","alias_value":"EB4CYIPRUY2RXUBF","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_8","alias_value":"EB4CYIPR","created_at":"2026-06-04T20:14:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:EB4CYIPRUY2RXUBFYEXRSCTS6M","target":"record","payload":{"canonical_record":{"source":{"id":"1903.06972","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-16T18:48:38Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ba47ef750dba90bedc5c30e5ad93c88c58caa159e3ff3087da6417d28f52aeab","abstract_canon_sha256":"c26278bb83ac8e01b1bf10866ad7fde0159702342ca51853ba97856da0532da4"},"schema_version":"1.0"},"canonical_sha256":"20782c21f1a6351bd025c12f190a72f32cd47b659eda49e937fdb5120357e687","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T20:14:14.333099Z","signature_b64":"1FcgISOkfgqNjbJopRGNJ0+js/tEPWSOf7rmBp787hLDKLNbhSx8DghXI8KFCfzNE/kLvVC6pXpkMj6qQB4IAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"20782c21f1a6351bd025c12f190a72f32cd47b659eda49e937fdb5120357e687","last_reissued_at":"2026-06-04T20:14:14.332571Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T20:14:14.332571Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.06972","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T20:14:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"B5Z8I31bmxTtD8tHAVs2b9V8Ht69YvZuF5XIoaBYnHUkxJMRRupcmPkVJwyd+dKJzFkTUJdDBQXWCW+aNwdECA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T21:01:14.490034Z"},"content_sha256":"f7d028f47ad912fdcccd5dfcf081540de43193c8f50a6081d612e1840afd79ec","schema_version":"1.0","event_id":"sha256:f7d028f47ad912fdcccd5dfcf081540de43193c8f50a6081d612e1840afd79ec"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:EB4CYIPRUY2RXUBFYEXRSCTS6M","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Dimitra Panagou, Kunal Garg","submitted_at":"2019-03-16T18:48:38Z","abstract_excerpt":"This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called prescribed-time control Lyapunov functions (PT CLF), and present sufficient conditions on the existence of a controller for this problem in terms of PT CLF. Then, we formulate a quadratic program (QP) to compute a control input that satisfies these sufficient conditions. Next, we consider control synthesis under spatio-temporal objectives given as: the clos"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.06972","kind":"arxiv","version":2},"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/1903.06972/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T20:14:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oTUYwM7+aJK4QY5a5CxyX/6cykf2YVQdgZuAeInYfMuA3NnOfx3IxHqZLYlzwWGSaNHU+cp2Aln+MQ6BIT64DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T21:01:14.490418Z"},"content_sha256":"d130f8422ef9578df65f1bde6beaabd6e777c2c381f18c9b73f1578fb4c5008a","schema_version":"1.0","event_id":"sha256:d130f8422ef9578df65f1bde6beaabd6e777c2c381f18c9b73f1578fb4c5008a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/bundle.json","state_url":"https://pith.science/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-01T21:01:14Z","links":{"resolver":"https://pith.science/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M","bundle":"https://pith.science/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/bundle.json","state":"https://pith.science/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EB4CYIPRUY2RXUBFYEXRSCTS6M/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:EB4CYIPRUY2RXUBFYEXRSCTS6M","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":"c26278bb83ac8e01b1bf10866ad7fde0159702342ca51853ba97856da0532da4","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-16T18:48:38Z","title_canon_sha256":"ba47ef750dba90bedc5c30e5ad93c88c58caa159e3ff3087da6417d28f52aeab"},"schema_version":"1.0","source":{"id":"1903.06972","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.06972","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"arxiv_version","alias_value":"1903.06972v2","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.06972","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_12","alias_value":"EB4CYIPRUY2R","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_16","alias_value":"EB4CYIPRUY2RXUBF","created_at":"2026-06-04T20:14:14Z"},{"alias_kind":"pith_short_8","alias_value":"EB4CYIPR","created_at":"2026-06-04T20:14:14Z"}],"graph_snapshots":[{"event_id":"sha256:d130f8422ef9578df65f1bde6beaabd6e777c2c381f18c9b73f1578fb4c5008a","target":"graph","created_at":"2026-06-04T20:14:14Z","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/1903.06972/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called prescribed-time control Lyapunov functions (PT CLF), and present sufficient conditions on the existence of a controller for this problem in terms of PT CLF. Then, we formulate a quadratic program (QP) to compute a control input that satisfies these sufficient conditions. Next, we consider control synthesis under spatio-temporal objectives given as: the clos","authors_text":"Dimitra Panagou, Kunal Garg","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-16T18:48:38Z","title":"Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.06972","kind":"arxiv","version":2},"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:f7d028f47ad912fdcccd5dfcf081540de43193c8f50a6081d612e1840afd79ec","target":"record","created_at":"2026-06-04T20:14:14Z","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":"c26278bb83ac8e01b1bf10866ad7fde0159702342ca51853ba97856da0532da4","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2019-03-16T18:48:38Z","title_canon_sha256":"ba47ef750dba90bedc5c30e5ad93c88c58caa159e3ff3087da6417d28f52aeab"},"schema_version":"1.0","source":{"id":"1903.06972","kind":"arxiv","version":2}},"canonical_sha256":"20782c21f1a6351bd025c12f190a72f32cd47b659eda49e937fdb5120357e687","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"20782c21f1a6351bd025c12f190a72f32cd47b659eda49e937fdb5120357e687","first_computed_at":"2026-06-04T20:14:14.332571Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T20:14:14.332571Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1FcgISOkfgqNjbJopRGNJ0+js/tEPWSOf7rmBp787hLDKLNbhSx8DghXI8KFCfzNE/kLvVC6pXpkMj6qQB4IAw==","signature_status":"signed_v1","signed_at":"2026-06-04T20:14:14.333099Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.06972","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f7d028f47ad912fdcccd5dfcf081540de43193c8f50a6081d612e1840afd79ec","sha256:d130f8422ef9578df65f1bde6beaabd6e777c2c381f18c9b73f1578fb4c5008a"],"state_sha256":"d035600e4ac65e342c798fa3233b4115c6d2fc61794b39387d7cbb6f96e52f99"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZRKd5KWhFHoc5AgbrScOEy3VT84U+Sxzg0S3pxF34OX0FmhbLYmXuXT9s3e3NOksir6qnqi4LsBn2FAiuSRNDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-01T21:01:14.492444Z","bundle_sha256":"a3be97859d404d2a1dad64b7e0df4f63ef55eb575dbb5d14a1cd7e7d7ddbe83c"}}