Pith Number

pith:KF6FQILU

pith:2026:KF6FQILUXVQPHVKTXWA3K25MDL

not attested not anchored not stored refs resolved

Distributed 3D Leader-Follower Formation Control with Field-of-View Safety via Control Barrier Functions

Bin Hu, Immanuel R. Santjoko, Miao Pan, Richie R. Suganda

Control barrier functions enforce field-of-view safety in 3D leader-follower UAV formations.

arxiv:2605.17533 v1 · 2026-05-17 · eess.SY · cs.RO · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{KF6FQILUXVQPHVKTXWA3K25MDL}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We develop a perception-aware safe control architecture that guarantees visibility by construction. ... embed the nominal formation controller within a Control Barrier Function-based Quadratic Program (CBF-QP) safety filter that minimally modifies the commanded velocities to maintain the leader inside the follower's camera frustum while preserving formation tracking whenever feasible.

C2weakest assumption

The quadratic program remains feasible at every time step so that the safety filter can always find a velocity that satisfies both the FOV constraint and the formation objective; this is stated in the abstract as 'whenever feasible' but the paper must show that the feasibility region is non-empty under the operating conditions used in the experiments.

C3one line summary

A distributed 3D leader-follower UAV formation controller that embeds a nominal tracker inside a CBF-QP safety filter to enforce field-of-view visibility by construction.

References

24 extracted · 24 resolved · 0 Pith anchors

[1] An event-triggered multi-aav coordination scheme for simultaneous tracking and pursuit of multiple moving targets, 2025

[2] Large-scale autonomous flight with real-time semantic slam under dense forest canopy, 2022

[3] Event-triggering in three-dimensional leader- follower formation control for unmanned aerial vehicles, 2016

[4] An event-triggering-based approach for three-dimensional local-level frame formation control of leader-follower uavs, 2017

[5] N. Cowan, O. Shakerina, R. Vidal, and S. Sastry, “Vision-based follow- the-leader,” inProceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)(Cat. No. 03CH3745 2003

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:04:44.419778Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

517c582174bd60f3d553bd81b56bac1ade78a6317d3fe5517d1598336586fa8e

Aliases

arxiv: 2605.17533 · arxiv_version: 2605.17533v1 · doi: 10.48550/arxiv.2605.17533 · pith_short_12: KF6FQILUXVQP · pith_short_16: KF6FQILUXVQPHVKT · pith_short_8: KF6FQILU

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/KF6FQILUXVQPHVKTXWA3K25MDL \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 517c582174bd60f3d553bd81b56bac1ade78a6317d3fe5517d1598336586fa8e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b7d6ab8d2c4c69fdbb70533a3df433a152998ec5f8042939c18153e6071ebe94",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-17T16:34:12Z",
    "title_canon_sha256": "0bece1c46d51c6f95769cf7aff0295df16299a39504e14e62b9896ed272f1917"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.17533",
    "kind": "arxiv",
    "version": 1
  }
}