{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:EXIPASLVMFEAVW6ZTHTOG6SKNQ","short_pith_number":"pith:EXIPASLV","canonical_record":{"source":{"id":"2007.11718","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-22T23:52:26Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"daa2cf91d65a803740bb6482833fece1f75ae7c1549802eb0b475e1ae925c316","abstract_canon_sha256":"caad02c064d87e61eaa57aa227b5ab19bc5edf34a92e6cbdfb7d4a642e3b719b"},"schema_version":"1.0"},"canonical_sha256":"25d0f0497561480adbd999e6e37a4a6c0792e5ec491a203d0b0dd0516486e4c6","source":{"kind":"arxiv","id":"2007.11718","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.11718","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"arxiv_version","alias_value":"2007.11718v3","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.11718","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_12","alias_value":"EXIPASLVMFEA","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_16","alias_value":"EXIPASLVMFEAVW6Z","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_8","alias_value":"EXIPASLV","created_at":"2026-07-05T02:25:20Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:EXIPASLVMFEAVW6ZTHTOG6SKNQ","target":"record","payload":{"canonical_record":{"source":{"id":"2007.11718","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-22T23:52:26Z","cross_cats_sorted":["cs.RO","cs.SY"],"title_canon_sha256":"daa2cf91d65a803740bb6482833fece1f75ae7c1549802eb0b475e1ae925c316","abstract_canon_sha256":"caad02c064d87e61eaa57aa227b5ab19bc5edf34a92e6cbdfb7d4a642e3b719b"},"schema_version":"1.0"},"canonical_sha256":"25d0f0497561480adbd999e6e37a4a6c0792e5ec491a203d0b0dd0516486e4c6","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:25:20.767809Z","signature_b64":"PqkZO0D/B4FKSibKktVNrJ15s6D++xCn2EWep+rs1cJ5l3/8Xahsmy/OLKueytUhKd1S/vXADDqFFpb7W0ILBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"25d0f0497561480adbd999e6e37a4a6c0792e5ec491a203d0b0dd0516486e4c6","last_reissued_at":"2026-07-05T02:25:20.767311Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:25:20.767311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2007.11718","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:25:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Eqk2a+mMsxcQRxcYoLUA9uzUwDscrM+jxnCvE9hhvEBTkO9JSjz4GJ6GybsrGHNRuSh7StShKCisyzebcs3WBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T20:07:52.463419Z"},"content_sha256":"def78f81cf63cedebdfbeec34022c670ee3d39b4b593f91f1ac926ed1ac4ccda","schema_version":"1.0","event_id":"sha256:def78f81cf63cedebdfbeec34022c670ee3d39b4b593f91f1ac926ed1ac4ccda"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:EXIPASLVMFEAVW6ZTHTOG6SKNQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","cs.SY"],"primary_cat":"eess.SY","authors_text":"Bike Zhang, Jun Zeng, Koushil Sreenath","submitted_at":"2020-07-22T23:52:26Z","abstract_excerpt":"The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open challenge for MPC as it needs to guarantee that the system stays within an invariant set. In order to obtain safe optimal performance in the context of set invariance, we present a safety-critical model predictive control strategy utilizing discrete-time control barrier functions (CBFs), which guarantees system safety and accomplishes optimal performance via "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.11718","kind":"arxiv","version":3},"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/2007.11718/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":"2026-07-05T02:25:20Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Do8qIRbW46nJFy/tTkM8Yq15haKlaIO1+MRr9sKPiAnkYnSuGGWiZIz+mXw7QdffRlk/MxwYVVjAyBhWsPqPDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-08T20:07:52.463789Z"},"content_sha256":"035dc7277cd3bc2af34503384275c58e4d84c518086955c7764c23dd13c291d8","schema_version":"1.0","event_id":"sha256:035dc7277cd3bc2af34503384275c58e4d84c518086955c7764c23dd13c291d8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/bundle.json","state_url":"https://pith.science/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/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":"2026-07-08T20:07:52Z","links":{"resolver":"https://pith.science/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ","bundle":"https://pith.science/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/bundle.json","state":"https://pith.science/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EXIPASLVMFEAVW6ZTHTOG6SKNQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:EXIPASLVMFEAVW6ZTHTOG6SKNQ","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":"caad02c064d87e61eaa57aa227b5ab19bc5edf34a92e6cbdfb7d4a642e3b719b","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-22T23:52:26Z","title_canon_sha256":"daa2cf91d65a803740bb6482833fece1f75ae7c1549802eb0b475e1ae925c316"},"schema_version":"1.0","source":{"id":"2007.11718","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2007.11718","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"arxiv_version","alias_value":"2007.11718v3","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2007.11718","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_12","alias_value":"EXIPASLVMFEA","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_16","alias_value":"EXIPASLVMFEAVW6Z","created_at":"2026-07-05T02:25:20Z"},{"alias_kind":"pith_short_8","alias_value":"EXIPASLV","created_at":"2026-07-05T02:25:20Z"}],"graph_snapshots":[{"event_id":"sha256:035dc7277cd3bc2af34503384275c58e4d84c518086955c7764c23dd13c291d8","target":"graph","created_at":"2026-07-05T02:25:20Z","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/2007.11718/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The optimal performance of robotic systems is usually achieved near the limit of state and input bounds. Model predictive control (MPC) is a prevalent strategy to handle these operational constraints, however, safety still remains an open challenge for MPC as it needs to guarantee that the system stays within an invariant set. In order to obtain safe optimal performance in the context of set invariance, we present a safety-critical model predictive control strategy utilizing discrete-time control barrier functions (CBFs), which guarantees system safety and accomplishes optimal performance via ","authors_text":"Bike Zhang, Jun Zeng, Koushil Sreenath","cross_cats":["cs.RO","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-22T23:52:26Z","title":"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2007.11718","kind":"arxiv","version":3},"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:def78f81cf63cedebdfbeec34022c670ee3d39b4b593f91f1ac926ed1ac4ccda","target":"record","created_at":"2026-07-05T02:25:20Z","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":"caad02c064d87e61eaa57aa227b5ab19bc5edf34a92e6cbdfb7d4a642e3b719b","cross_cats_sorted":["cs.RO","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-07-22T23:52:26Z","title_canon_sha256":"daa2cf91d65a803740bb6482833fece1f75ae7c1549802eb0b475e1ae925c316"},"schema_version":"1.0","source":{"id":"2007.11718","kind":"arxiv","version":3}},"canonical_sha256":"25d0f0497561480adbd999e6e37a4a6c0792e5ec491a203d0b0dd0516486e4c6","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"25d0f0497561480adbd999e6e37a4a6c0792e5ec491a203d0b0dd0516486e4c6","first_computed_at":"2026-07-05T02:25:20.767311Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:25:20.767311Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PqkZO0D/B4FKSibKktVNrJ15s6D++xCn2EWep+rs1cJ5l3/8Xahsmy/OLKueytUhKd1S/vXADDqFFpb7W0ILBw==","signature_status":"signed_v1","signed_at":"2026-07-05T02:25:20.767809Z","signed_message":"canonical_sha256_bytes"},"source_id":"2007.11718","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:def78f81cf63cedebdfbeec34022c670ee3d39b4b593f91f1ac926ed1ac4ccda","sha256:035dc7277cd3bc2af34503384275c58e4d84c518086955c7764c23dd13c291d8"],"state_sha256":"53820da0aceeb7daf3773fc607b183ceea7355fe826daa2f1e526c3e009c3dff"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H+pk+2i5sncN28AMECSM4Bftv+8mBaGiEj+0Ucozs15lE2EUagXdF/qcVtzxQjZc7XObWcKPsR+H1nkG7V1ICA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-08T20:07:52.465849Z","bundle_sha256":"b96a3c9c71b060b84efac27d78cd448c0801ffb0ca8ae129c01d73fd045f06f7"}}