{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:VG7HEWJXIVCM7P2D67IOBMCGV5","short_pith_number":"pith:VG7HEWJX","schema_version":"1.0","canonical_sha256":"a9be7259374544cfbf43f7d0e0b046af6b660f39ae20e33b3379b65f80e52a83","source":{"kind":"arxiv","id":"2003.10028","version":2},"attestation_state":"computed","paper":{"title":"Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How","submitted_at":"2020-03-22T23:57:21Z","abstract_excerpt":"A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new adaptive data-driven safety paradigm is merged with a recent adaptive control algorithm for systems nominally contracting in closed-loop. This unification is more general than other safety controllers as closed-loop contraction does not require the system be invertible or in a particular form. Additionally, the approach is less expensive than nonlinear model "},"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":"2003.10028","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-03-22T23:57:21Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"598070e6a5e1c4b8fcc80b2f5a0e63aa21090f49a8d2cf912469e85dabfd6ef5","abstract_canon_sha256":"a381ccee5789bc7119ae063dbf3a57c316a2e3657a4753e79ffec64c5e6f0622"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:06:33.497575Z","signature_b64":"vVavbJBuT+WImIOCwdbDG68U8Xiw9HiGvdqi9ROZ/rtHMuUjCrfjlJGH0dfcZFRQ0cHEr/9gM+k6spaHg6IBBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a9be7259374544cfbf43f7d0e0b046af6b660f39ae20e33b3379b65f80e52a83","last_reissued_at":"2026-07-05T01:06:33.497150Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:06:33.497150Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robust Adaptive Control Barrier Functions: An Adaptive & Data-Driven Approach to Safety (Extended Version)","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Brett T. Lopez, Jean-Jacques E. Slotine, Jonathan P. How","submitted_at":"2020-03-22T23:57:21Z","abstract_excerpt":"A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new adaptive data-driven safety paradigm is merged with a recent adaptive control algorithm for systems nominally contracting in closed-loop. This unification is more general than other safety controllers as closed-loop contraction does not require the system be invertible or in a particular form. Additionally, the approach is less expensive than nonlinear model "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.10028","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/2003.10028/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2003.10028","created_at":"2026-07-05T01:06:33.497201+00:00"},{"alias_kind":"arxiv_version","alias_value":"2003.10028v2","created_at":"2026-07-05T01:06:33.497201+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.10028","created_at":"2026-07-05T01:06:33.497201+00:00"},{"alias_kind":"pith_short_12","alias_value":"VG7HEWJXIVCM","created_at":"2026-07-05T01:06:33.497201+00:00"},{"alias_kind":"pith_short_16","alias_value":"VG7HEWJXIVCM7P2D","created_at":"2026-07-05T01:06:33.497201+00:00"},{"alias_kind":"pith_short_8","alias_value":"VG7HEWJX","created_at":"2026-07-05T01:06:33.497201+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/VG7HEWJXIVCM7P2D67IOBMCGV5","json":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5.json","graph_json":"https://pith.science/api/pith-number/VG7HEWJXIVCM7P2D67IOBMCGV5/graph.json","events_json":"https://pith.science/api/pith-number/VG7HEWJXIVCM7P2D67IOBMCGV5/events.json","paper":"https://pith.science/paper/VG7HEWJX"},"agent_actions":{"view_html":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5","download_json":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5.json","view_paper":"https://pith.science/paper/VG7HEWJX","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2003.10028&json=true","fetch_graph":"https://pith.science/api/pith-number/VG7HEWJXIVCM7P2D67IOBMCGV5/graph.json","fetch_events":"https://pith.science/api/pith-number/VG7HEWJXIVCM7P2D67IOBMCGV5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5/action/storage_attestation","attest_author":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5/action/author_attestation","sign_citation":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5/action/citation_signature","submit_replication":"https://pith.science/pith/VG7HEWJXIVCM7P2D67IOBMCGV5/action/replication_record"}},"created_at":"2026-07-05T01:06:33.497201+00:00","updated_at":"2026-07-05T01:06:33.497201+00:00"}