Pith Number

pith:W5GWZTTE

pith:2026:W5GWZTTEKUGPZZCD4DT4XIXWWJ

not attested not anchored not stored refs pending

Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions

Jiaqi Yan, Mengze Yu, Wei Wang, Yuzhang Peng

Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents.

arxiv:2603.10836 v4 · 2026-03-11 · eess.SY · 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{W5GWZTTEKUGPZZCD4DT4XIXWWJ}

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

Based on the reconstructed CBF, we design a safety-critical quadratic programming (QP) controller and prove that the proposed distributed control scheme rigorously guarantees the safety of the MAS, even in the uncertain dynamic environments involving uncontrollable agents.

C2weakest assumption

The distributed adaptive observer produces state estimates accurate enough for the reconstruction, and the prescribed performance adaptive parameter can be chosen so that the reconstructed constraint implies the original coupled CBF constraint.

C3one line summary

Reconstructed CBFs with distributed observers and adaptive parameters allow provably safe distributed QP control for MAS including uncontrollable agents with uncertain dynamics.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-22T01:03:59.990664Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f

Aliases

arxiv: 2603.10836 · arxiv_version: 2603.10836v4 · doi: 10.48550/arxiv.2603.10836 · pith_short_12: W5GWZTTEKUGP · pith_short_16: W5GWZTTEKUGPZZCD · pith_short_8: W5GWZTTE

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/W5GWZTTEKUGPZZCD4DT4XIXWWJ \
  | 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: b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d959c0ad36bcfa4a81c16b2788590d2aabe4b054651868ba52d18212cef3a532",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-03-11T14:41:48Z",
    "title_canon_sha256": "97044d4ec6fc7fed020204ce1f3a5506b8fc434aae5c9d9a28f14d5be0b598ee"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.10836",
    "kind": "arxiv",
    "version": 4
  }
}