{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:VYIBNA4OVKHAFEJIT4TE7XPK6A","short_pith_number":"pith:VYIBNA4O","canonical_record":{"source":{"id":"2605.15782","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T09:42:13Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"072ce075d04ce6f40d1f4de9ef9f7d2ddc67a8af11a4667555b36b345d2066f5","abstract_canon_sha256":"2994d9eccbe19d483cf23f0fd5b41dd9433deee9b4209a4badda89fb518b74bb"},"schema_version":"1.0"},"canonical_sha256":"ae1016838eaa8e0291289f264fddeaf025dc95f3c6bb75ad5704a663501cd68f","source":{"kind":"arxiv","id":"2605.15782","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.15782","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"arxiv_version","alias_value":"2605.15782v1","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.15782","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_12","alias_value":"VYIBNA4OVKHA","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_16","alias_value":"VYIBNA4OVKHAFEJI","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_8","alias_value":"VYIBNA4O","created_at":"2026-05-20T00:01:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:VYIBNA4OVKHAFEJIT4TE7XPK6A","target":"record","payload":{"canonical_record":{"source":{"id":"2605.15782","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T09:42:13Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"072ce075d04ce6f40d1f4de9ef9f7d2ddc67a8af11a4667555b36b345d2066f5","abstract_canon_sha256":"2994d9eccbe19d483cf23f0fd5b41dd9433deee9b4209a4badda89fb518b74bb"},"schema_version":"1.0"},"canonical_sha256":"ae1016838eaa8e0291289f264fddeaf025dc95f3c6bb75ad5704a663501cd68f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:01:18.008114Z","signature_b64":"vqOB2ZQPFJQM9oDL1dBHwqCkWRpfNlR/q5gRqzYTiITwK8YI1R0bXJapswU2KmiG1f3ChCheynXNMTfWNdAEAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ae1016838eaa8e0291289f264fddeaf025dc95f3c6bb75ad5704a663501cd68f","last_reissued_at":"2026-05-20T00:01:18.007240Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:01:18.007240Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.15782","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-20T00:01:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Wa0e+hGj6p6nJkwK7kiOnyY7rlUkyy7P4eew7UqV2kXEfyQF3kF8RPHX0B2Rn1uK5PDRo61VQjgY8X1KMrRVAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T12:10:46.125554Z"},"content_sha256":"8fff5c4d5987d32504511eeff379e377acd54a5153d8d4db4d0602dea2632141","schema_version":"1.0","event_id":"sha256:8fff5c4d5987d32504511eeff379e377acd54a5153d8d4db4d0602dea2632141"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:VYIBNA4OVKHAFEJIT4TE7XPK6A","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Akshit Saradagi, George Nikolakopoulos, Sumeet Satpute, Vignesh K. Viswanathan, Viswa Narayanan Sankaranarayanan","submitted_at":"2026-05-15T09:42:13Z","abstract_excerpt":"In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15782","kind":"arxiv","version":1},"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/2605.15782/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:48.750057Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:21:55.924408Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"f36e9898264623d038ae261db8479f8e98f89aa0fb18cb2f17bc25e02f373b30"},"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":"2026-05-20T00:01:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gEi2ykEYKxSITERrINndd8iNBAKJp71jGU+YRJoH668EE1hYxC/pK/Itt25P4AXDF+Z3ls/8B+lX9BLLM/tRDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T12:10:46.126545Z"},"content_sha256":"244ae05b2fb49633751bf79f9c7780cc8224448a48ea0be5dbc15c1415d40087","schema_version":"1.0","event_id":"sha256:244ae05b2fb49633751bf79f9c7780cc8224448a48ea0be5dbc15c1415d40087"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/bundle.json","state_url":"https://pith.science/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/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":"2026-05-30T12:10:46Z","links":{"resolver":"https://pith.science/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A","bundle":"https://pith.science/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/bundle.json","state":"https://pith.science/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/state.json","well_known_bundle":"https://pith.science/.well-known/pith/VYIBNA4OVKHAFEJIT4TE7XPK6A/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:VYIBNA4OVKHAFEJIT4TE7XPK6A","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":"2994d9eccbe19d483cf23f0fd5b41dd9433deee9b4209a4badda89fb518b74bb","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T09:42:13Z","title_canon_sha256":"072ce075d04ce6f40d1f4de9ef9f7d2ddc67a8af11a4667555b36b345d2066f5"},"schema_version":"1.0","source":{"id":"2605.15782","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.15782","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"arxiv_version","alias_value":"2605.15782v1","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.15782","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_12","alias_value":"VYIBNA4OVKHA","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_16","alias_value":"VYIBNA4OVKHAFEJI","created_at":"2026-05-20T00:01:18Z"},{"alias_kind":"pith_short_8","alias_value":"VYIBNA4O","created_at":"2026-05-20T00:01:18Z"}],"graph_snapshots":[{"event_id":"sha256:244ae05b2fb49633751bf79f9c7780cc8224448a48ea0be5dbc15c1415d40087","target":"graph","created_at":"2026-05-20T00:01:18Z","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":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:48.750057Z","status":"skipped","version":"1.0.0"},{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T17:21:55.924408Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.15782/integrity.json","findings":[],"snapshot_sha256":"f36e9898264623d038ae261db8479f8e98f89aa0fb18cb2f17bc25e02f373b30","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally ","authors_text":"Akshit Saradagi, George Nikolakopoulos, Sumeet Satpute, Vignesh K. Viswanathan, Viswa Narayanan Sankaranarayanan","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T09:42:13Z","title":"Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.15782","kind":"arxiv","version":1},"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":"sha256:8fff5c4d5987d32504511eeff379e377acd54a5153d8d4db4d0602dea2632141","target":"record","created_at":"2026-05-20T00:01:18Z","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":"2994d9eccbe19d483cf23f0fd5b41dd9433deee9b4209a4badda89fb518b74bb","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T09:42:13Z","title_canon_sha256":"072ce075d04ce6f40d1f4de9ef9f7d2ddc67a8af11a4667555b36b345d2066f5"},"schema_version":"1.0","source":{"id":"2605.15782","kind":"arxiv","version":1}},"canonical_sha256":"ae1016838eaa8e0291289f264fddeaf025dc95f3c6bb75ad5704a663501cd68f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ae1016838eaa8e0291289f264fddeaf025dc95f3c6bb75ad5704a663501cd68f","first_computed_at":"2026-05-20T00:01:18.007240Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:01:18.007240Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vqOB2ZQPFJQM9oDL1dBHwqCkWRpfNlR/q5gRqzYTiITwK8YI1R0bXJapswU2KmiG1f3ChCheynXNMTfWNdAEAw==","signature_status":"signed_v1","signed_at":"2026-05-20T00:01:18.008114Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.15782","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8fff5c4d5987d32504511eeff379e377acd54a5153d8d4db4d0602dea2632141","sha256:244ae05b2fb49633751bf79f9c7780cc8224448a48ea0be5dbc15c1415d40087"],"state_sha256":"b1074a09e89990757930d0800db10b6bcef27d122789c0c9bd11591443d9995b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CIIJTfIpn4mLJwkaQTE85tAuWlMYmO9/TdWmUMwH0KsNNlZpTOrzvalz6HabfopDHMBXhzTTxF2DHNjyiO6AAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T12:10:46.130687Z","bundle_sha256":"dfa8d6bf66c0b4e20261022cf78abc5ff5d86f1eff580a7827da4fc562636e22"}}