{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:W5GWZTTEKUGPZZCD4DT4XIXWWJ","short_pith_number":"pith:W5GWZTTE","canonical_record":{"source":{"id":"2603.10836","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-03-11T14:41:48Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"97044d4ec6fc7fed020204ce1f3a5506b8fc434aae5c9d9a28f14d5be0b598ee","abstract_canon_sha256":"d959c0ad36bcfa4a81c16b2788590d2aabe4b054651868ba52d18212cef3a532"},"schema_version":"1.0"},"canonical_sha256":"b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f","source":{"kind":"arxiv","id":"2603.10836","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.10836","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"arxiv_version","alias_value":"2603.10836v4","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.10836","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_12","alias_value":"W5GWZTTEKUGP","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_16","alias_value":"W5GWZTTEKUGPZZCD","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_8","alias_value":"W5GWZTTE","created_at":"2026-05-22T01:03:59Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:W5GWZTTEKUGPZZCD4DT4XIXWWJ","target":"record","payload":{"canonical_record":{"source":{"id":"2603.10836","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-03-11T14:41:48Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"97044d4ec6fc7fed020204ce1f3a5506b8fc434aae5c9d9a28f14d5be0b598ee","abstract_canon_sha256":"d959c0ad36bcfa4a81c16b2788590d2aabe4b054651868ba52d18212cef3a532"},"schema_version":"1.0"},"canonical_sha256":"b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-22T01:03:59.991277Z","signature_b64":"pGF3YcTX7V97PL2H/h09tTpOdD7SkBVLPSNYGRjFnxksowRb6lZP50K1CDYgR2swoAwT9guZJmTUlYLUma1pCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f","last_reissued_at":"2026-05-22T01:03:59.990664Z","signature_status":"signed_v1","first_computed_at":"2026-05-22T01:03:59.990664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.10836","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-22T01:03:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UyPsM9u+mg8vxHDlKOWuQaIBs3gj7FfhxjHk4C7e3KICxdoSs7yDCOeD3JwyKkEY5pVm5hb7TzHkxZJ5SR6WDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T02:44:24.636125Z"},"content_sha256":"b7d89154fa01a074f8c6077488ab45a0d61eb0d72e8a36b02eed7e07abd8a108","schema_version":"1.0","event_id":"sha256:b7d89154fa01a074f8c6077488ab45a0d61eb0d72e8a36b02eed7e07abd8a108"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:W5GWZTTEKUGPZZCD4DT4XIXWWJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents.","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Jiaqi Yan, Mengze Yu, Wei Wang, Yuzhang Peng","submitted_at":"2026-03-11T14:41:48Z","abstract_excerpt":"This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in this paper. However, a key challenge is that the CBF constraints are coupled when MASs perform collaborative tasks, which depend on information from multiple agents and impede the design of a fully distributed safe control scheme. To overcome this, a novel reconstructed CBF approach is proposed. In this method, the coupled CBF is reconstructed by leveraging sta"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"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.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"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.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"Reconstructed CBFs with distributed observers and adaptive parameters allow provably safe distributed QP control for MAS including uncontrollable agents with uncertain dynamics.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"5468c71240326ba7b3d747eca3bbbf51442dad3e8ad96d7cec476ad994bb599c"},"source":{"id":"2603.10836","kind":"arxiv","version":4},"verdict":{"id":"ee423c46-2b9d-474b-8a0e-839990038937","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-15T13:32:41.400012Z","strongest_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.","one_line_summary":"Reconstructed CBFs with distributed observers and adaptive parameters allow provably safe distributed QP control for MAS including uncontrollable agents with uncertain dynamics.","pipeline_version":"pith-pipeline@v0.9.0","weakest_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.","pith_extraction_headline":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2603.10836/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":2,"snapshot_sha256":"2db4e7ea44b1b046bc7b3ab7fc21058a715e143fe23f2b519b1402282a30ea20"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":"ee423c46-2b9d-474b-8a0e-839990038937"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-22T01:03:59Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RhZJf/0YJVyHk82JOZoxnUQNo416YVk7zML+vaQwL7bwxWA5u2kP5SADAZaZLIL9tF9vQTSDCThO9i8m0g6/Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T02:44:24.636625Z"},"content_sha256":"0168e756d5c51250179e1b53d269887b283f7886f7fbb426311f018c43158609","schema_version":"1.0","event_id":"sha256:0168e756d5c51250179e1b53d269887b283f7886f7fbb426311f018c43158609"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/bundle.json","state_url":"https://pith.science/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/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":"2026-05-30T02:44:24Z","links":{"resolver":"https://pith.science/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ","bundle":"https://pith.science/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/bundle.json","state":"https://pith.science/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/W5GWZTTEKUGPZZCD4DT4XIXWWJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:W5GWZTTEKUGPZZCD4DT4XIXWWJ","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.10836","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"arxiv_version","alias_value":"2603.10836v4","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.10836","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_12","alias_value":"W5GWZTTEKUGP","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_16","alias_value":"W5GWZTTEKUGPZZCD","created_at":"2026-05-22T01:03:59Z"},{"alias_kind":"pith_short_8","alias_value":"W5GWZTTE","created_at":"2026-05-22T01:03:59Z"}],"graph_snapshots":[{"event_id":"sha256:0168e756d5c51250179e1b53d269887b283f7886f7fbb426311f018c43158609","target":"graph","created_at":"2026-05-22T01:03:59Z","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":4,"items":[{"attestation":"unclaimed","claim_id":"C1","kind":"strongest_claim","source":"verdict.strongest_claim","status":"machine_extracted","text":"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."},{"attestation":"unclaimed","claim_id":"C2","kind":"weakest_assumption","source":"verdict.weakest_assumption","status":"machine_extracted","text":"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."},{"attestation":"unclaimed","claim_id":"C3","kind":"one_line_summary","source":"verdict.one_line_summary","status":"machine_extracted","text":"Reconstructed CBFs with distributed observers and adaptive parameters allow provably safe distributed QP control for MAS including uncontrollable agents with uncertain dynamics."},{"attestation":"unclaimed","claim_id":"C4","kind":"headline","source":"verdict.pith_extraction.headline","status":"machine_extracted","text":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents."}],"snapshot_sha256":"5468c71240326ba7b3d747eca3bbbf51442dad3e8ad96d7cec476ad994bb599c"},"formal_canon":{"evidence_count":2,"snapshot_sha256":"2db4e7ea44b1b046bc7b3ab7fc21058a715e143fe23f2b519b1402282a30ea20"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2603.10836/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper investigates the distributed safety critical control for multi-agent systems (MASs) in the presence of uncontrollable agents with uncertain behaviors. To ensure system safety, the control barrier function (CBF) is employed in this paper. However, a key challenge is that the CBF constraints are coupled when MASs perform collaborative tasks, which depend on information from multiple agents and impede the design of a fully distributed safe control scheme. To overcome this, a novel reconstructed CBF approach is proposed. In this method, the coupled CBF is reconstructed by leveraging sta","authors_text":"Jiaqi Yan, Mengze Yu, Wei Wang, Yuzhang Peng","cross_cats":["cs.SY"],"headline":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents.","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2026-03-11T14:41:48Z","title":"Distributed Safety Critical Control among Uncontrollable Agents Using Reconstructed Control Barrier Functions"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.10836","kind":"arxiv","version":4},"verdict":{"created_at":"2026-05-15T13:32:41.400012Z","id":"ee423c46-2b9d-474b-8a0e-839990038937","model_set":{"reader":"grok-4.3"},"one_line_summary":"Reconstructed CBFs with distributed observers and adaptive parameters allow provably safe distributed QP control for MAS including uncontrollable agents with uncertain dynamics.","pipeline_version":"pith-pipeline@v0.9.0","pith_extraction_headline":"Reconstructed control barrier functions turn coupled safety constraints into locally solvable ones for multi-agent systems with uncontrollable agents.","strongest_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.","weakest_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."}},"verdict_id":"ee423c46-2b9d-474b-8a0e-839990038937"}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:b7d89154fa01a074f8c6077488ab45a0d61eb0d72e8a36b02eed7e07abd8a108","target":"record","created_at":"2026-05-22T01:03:59Z","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":"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}},"canonical_sha256":"b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b74d6cce64550cfce443e0e7cba2f6b253bd4126418ccbea9e6229bd912ed36f","first_computed_at":"2026-05-22T01:03:59.990664Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-22T01:03:59.990664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"pGF3YcTX7V97PL2H/h09tTpOdD7SkBVLPSNYGRjFnxksowRb6lZP50K1CDYgR2swoAwT9guZJmTUlYLUma1pCg==","signature_status":"signed_v1","signed_at":"2026-05-22T01:03:59.991277Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.10836","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b7d89154fa01a074f8c6077488ab45a0d61eb0d72e8a36b02eed7e07abd8a108","sha256:0168e756d5c51250179e1b53d269887b283f7886f7fbb426311f018c43158609"],"state_sha256":"ae48fe4047b4a1e3518fcb937893cdec9bdcd73a9e8bff50dc0ed3c892f7230f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zha3BrvciObDZO1Z8nBzq7KpQ8z6v29iWef6YoQxpQ1wkGxVRMDz+ymhGvngJd8kBLXILrXzDwiKvHJC7qSbCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T02:44:24.638937Z","bundle_sha256":"560c14cdeb956a4e90bb8649b91403b8acbd17ffc0ab4fab2b60ffea53e2ac4a"}}