{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:K4MWJYKSSMKP2SYXUON53SGCUR","short_pith_number":"pith:K4MWJYKS","canonical_record":{"source":{"id":"2603.17401","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-03-18T06:23:00Z","cross_cats_sorted":[],"title_canon_sha256":"f713d252fa15d7a97a1062f94afb32ee1a8121beae1cbfcbfe138393a1a37d79","abstract_canon_sha256":"240ed41edab76f74d144da1abe0cf9299e104e1cf52381d4025aee59e3f8e3b2"},"schema_version":"1.0"},"canonical_sha256":"571964e1529314fd4b17a39bddc8c2a45ad0fd353b0787a0071115acf0c462c5","source":{"kind":"arxiv","id":"2603.17401","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.17401","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"arxiv_version","alias_value":"2603.17401v2","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.17401","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_12","alias_value":"K4MWJYKSSMKP","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_16","alias_value":"K4MWJYKSSMKP2SYX","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_8","alias_value":"K4MWJYKS","created_at":"2026-07-20T00:18:19Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:K4MWJYKSSMKP2SYXUON53SGCUR","target":"record","payload":{"canonical_record":{"source":{"id":"2603.17401","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-03-18T06:23:00Z","cross_cats_sorted":[],"title_canon_sha256":"f713d252fa15d7a97a1062f94afb32ee1a8121beae1cbfcbfe138393a1a37d79","abstract_canon_sha256":"240ed41edab76f74d144da1abe0cf9299e104e1cf52381d4025aee59e3f8e3b2"},"schema_version":"1.0"},"canonical_sha256":"571964e1529314fd4b17a39bddc8c2a45ad0fd353b0787a0071115acf0c462c5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-20T00:18:19.735451Z","signature_b64":"mKyE3ZzaXSCncImwyfsxPF/DblL3b6s597lZ81ZHiP9YPTOiaQvwDYPIKzefDxDNKvOzsOWRV3onYCCHUBBRDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"571964e1529314fd4b17a39bddc8c2a45ad0fd353b0787a0071115acf0c462c5","last_reissued_at":"2026-07-20T00:18:19.734458Z","signature_status":"signed_v1","first_computed_at":"2026-07-20T00:18:19.734458Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.17401","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":"2026-07-20T00:18:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jS/p47gPpeTKdKnzPIdDKkskKm0bmyb6ifiqG3mZ4cWsQPHLrJkdV9k6psY+3ArOLA0Z2vnWHGyHQPvp/LZNCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:02:16.372405Z"},"content_sha256":"055e1044affcb879ae12bafcdabec5d8a6c78d4f57914a6d9a7d75d3d5ee3517","schema_version":"1.0","event_id":"sha256:055e1044affcb879ae12bafcdabec5d8a6c78d4f57914a6d9a7d75d3d5ee3517"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:K4MWJYKSSMKP2SYXUON53SGCUR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Aaron D. Ames, Pol Mestres, Shima Sadat Mousavi","submitted_at":"2026-03-18T06:23:00Z","abstract_excerpt":"This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to render it safe. Although CBF-based safety filters make the closed-loop system safe, characterizing their additional dynamical properties, such as stability, boundedness, or existence of spurious equilibria, remains a challenging problem. Here, we address this problem for the case of linear systems and an affine CBF constraint. We provide conditions under which t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.17401","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/2603.17401/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":"2026-07-20T00:18:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NXPEdFB4iu/iyJ4lhe6wtHYQt5SoZzhvNGLM42dAhLMpKBE7/pTA302I3xdnshq0IgX7WBe1vuoTOuCPBaAeCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:02:16.373097Z"},"content_sha256":"91c58f1552454fb8d5087299943158649be052d6356ba3530f31e7be9a2c196a","schema_version":"1.0","event_id":"sha256:91c58f1552454fb8d5087299943158649be052d6356ba3530f31e7be9a2c196a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/K4MWJYKSSMKP2SYXUON53SGCUR/bundle.json","state_url":"https://pith.science/pith/K4MWJYKSSMKP2SYXUON53SGCUR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/K4MWJYKSSMKP2SYXUON53SGCUR/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":"2026-08-04T15:02:16Z","links":{"resolver":"https://pith.science/pith/K4MWJYKSSMKP2SYXUON53SGCUR","bundle":"https://pith.science/pith/K4MWJYKSSMKP2SYXUON53SGCUR/bundle.json","state":"https://pith.science/pith/K4MWJYKSSMKP2SYXUON53SGCUR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/K4MWJYKSSMKP2SYXUON53SGCUR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:K4MWJYKSSMKP2SYXUON53SGCUR","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":"240ed41edab76f74d144da1abe0cf9299e104e1cf52381d4025aee59e3f8e3b2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-03-18T06:23:00Z","title_canon_sha256":"f713d252fa15d7a97a1062f94afb32ee1a8121beae1cbfcbfe138393a1a37d79"},"schema_version":"1.0","source":{"id":"2603.17401","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.17401","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"arxiv_version","alias_value":"2603.17401v2","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.17401","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_12","alias_value":"K4MWJYKSSMKP","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_16","alias_value":"K4MWJYKSSMKP2SYX","created_at":"2026-07-20T00:18:19Z"},{"alias_kind":"pith_short_8","alias_value":"K4MWJYKS","created_at":"2026-07-20T00:18:19Z"}],"graph_snapshots":[{"event_id":"sha256:91c58f1552454fb8d5087299943158649be052d6356ba3530f31e7be9a2c196a","target":"graph","created_at":"2026-07-20T00:18:19Z","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/2603.17401/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to render it safe. Although CBF-based safety filters make the closed-loop system safe, characterizing their additional dynamical properties, such as stability, boundedness, or existence of spurious equilibria, remains a challenging problem. Here, we address this problem for the case of linear systems and an affine CBF constraint. We provide conditions under which t","authors_text":"Aaron D. Ames, Pol Mestres, Shima Sadat Mousavi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-03-18T06:23:00Z","title":"Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.17401","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":"sha256:055e1044affcb879ae12bafcdabec5d8a6c78d4f57914a6d9a7d75d3d5ee3517","target":"record","created_at":"2026-07-20T00:18:19Z","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":"240ed41edab76f74d144da1abe0cf9299e104e1cf52381d4025aee59e3f8e3b2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2026-03-18T06:23:00Z","title_canon_sha256":"f713d252fa15d7a97a1062f94afb32ee1a8121beae1cbfcbfe138393a1a37d79"},"schema_version":"1.0","source":{"id":"2603.17401","kind":"arxiv","version":2}},"canonical_sha256":"571964e1529314fd4b17a39bddc8c2a45ad0fd353b0787a0071115acf0c462c5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"571964e1529314fd4b17a39bddc8c2a45ad0fd353b0787a0071115acf0c462c5","first_computed_at":"2026-07-20T00:18:19.734458Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-20T00:18:19.734458Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mKyE3ZzaXSCncImwyfsxPF/DblL3b6s597lZ81ZHiP9YPTOiaQvwDYPIKzefDxDNKvOzsOWRV3onYCCHUBBRDQ==","signature_status":"signed_v1","signed_at":"2026-07-20T00:18:19.735451Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.17401","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:055e1044affcb879ae12bafcdabec5d8a6c78d4f57914a6d9a7d75d3d5ee3517","sha256:91c58f1552454fb8d5087299943158649be052d6356ba3530f31e7be9a2c196a"],"state_sha256":"8b3292e167f7778a53464c724b0acc0dfa33bcaa5166b871a9883fe7cd234210"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"riIp9CPEWoLGDOPMpEmWOBhWdFeDmF0Ua7ldLaaj0mNrCt2dUVj1nttN+OeeawFCZLRxTYh7WZUhImDWHa7nBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T15:02:16.377997Z","bundle_sha256":"1a2aa72031d368637cac3307da55b93e367c9e1465a165494ca33f2b153f4177"}}