{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:XUT7KHT2NXRCENOCUZI5P2MJRR","short_pith_number":"pith:XUT7KHT2","canonical_record":{"source":{"id":"2603.05916","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-06T05:10:44Z","cross_cats_sorted":[],"title_canon_sha256":"669e88bf9f6d7fccdb2c073b1400920c30d3f1f2e1c0a0d63cecf323b1ac7615","abstract_canon_sha256":"96a9553a8e0d63e0eb8ec5b2d455bb720ca2cbf58e8550ce79745ef60923116c"},"schema_version":"1.0"},"canonical_sha256":"bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0","source":{"kind":"arxiv","id":"2603.05916","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.05916","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"arxiv_version","alias_value":"2603.05916v2","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.05916","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_12","alias_value":"XUT7KHT2NXRC","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_16","alias_value":"XUT7KHT2NXRCENOC","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_8","alias_value":"XUT7KHT2","created_at":"2026-06-23T02:13:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:XUT7KHT2NXRCENOCUZI5P2MJRR","target":"record","payload":{"canonical_record":{"source":{"id":"2603.05916","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-06T05:10:44Z","cross_cats_sorted":[],"title_canon_sha256":"669e88bf9f6d7fccdb2c073b1400920c30d3f1f2e1c0a0d63cecf323b1ac7615","abstract_canon_sha256":"96a9553a8e0d63e0eb8ec5b2d455bb720ca2cbf58e8550ce79745ef60923116c"},"schema_version":"1.0"},"canonical_sha256":"bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T02:13:21.968994Z","signature_b64":"TSeTMJ0bPkGwuSzP38Cp0qxUuSzXLv7Dl+8H/oRe8QL/+EYdW23+yIgyfEI/VwnahK4x2Xdfz24kZ/KxjXytAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0","last_reissued_at":"2026-06-23T02:13:21.968578Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T02:13:21.968578Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.05916","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-23T02:13:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MIRMJ2ds/Iw2affmp8NyA4Z7RZUmb1AX9hk095srkeyW6upS2xffjGDK3xtJsZg/p/3Ci3ceN1utjxDjTx3LBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:51:07.998797Z"},"content_sha256":"672af19d62ca20b33cf7b958ea2d1b179e8958c0082102ed25bcc8790e358937","schema_version":"1.0","event_id":"sha256:672af19d62ca20b33cf7b958ea2d1b179e8958c0082102ed25bcc8790e358937"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:XUT7KHT2NXRCENOCUZI5P2MJRR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Calin A. Belta, Shuo Liu, Zhe Huang","submitted_at":"2026-03-06T05:10:44Z","abstract_excerpt":"Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids, which allow differentiable distance expressions but distort the true geometry and restrict the feasible set. Other approaches integrate exact polytope distances into nonlinear model predictive control (MPC), resulting in nonconvex programs that limit real-time performance. In this paper, we construct linear discrete-time control barrier function (DCBF) cons"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.05916","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/2603.05916/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-23T02:13:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k4RT+SZl+zu05V1ieFlNi930kIOeryWMm2vuoO4FowHT7Z39LE9Xxo/Sh410C6FE4GZn5+R+xRaPsVCr8BXXAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T15:51:07.999158Z"},"content_sha256":"f23d9baff81a19217ff07a303dce0209d89a5f1e9279ca8fb4f4e1dcd23d768a","schema_version":"1.0","event_id":"sha256:f23d9baff81a19217ff07a303dce0209d89a5f1e9279ca8fb4f4e1dcd23d768a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/bundle.json","state_url":"https://pith.science/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/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":"2026-06-27T15:51:08Z","links":{"resolver":"https://pith.science/pith/XUT7KHT2NXRCENOCUZI5P2MJRR","bundle":"https://pith.science/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/bundle.json","state":"https://pith.science/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XUT7KHT2NXRCENOCUZI5P2MJRR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XUT7KHT2NXRCENOCUZI5P2MJRR","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":"96a9553a8e0d63e0eb8ec5b2d455bb720ca2cbf58e8550ce79745ef60923116c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-06T05:10:44Z","title_canon_sha256":"669e88bf9f6d7fccdb2c073b1400920c30d3f1f2e1c0a0d63cecf323b1ac7615"},"schema_version":"1.0","source":{"id":"2603.05916","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.05916","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"arxiv_version","alias_value":"2603.05916v2","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.05916","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_12","alias_value":"XUT7KHT2NXRC","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_16","alias_value":"XUT7KHT2NXRCENOC","created_at":"2026-06-23T02:13:21Z"},{"alias_kind":"pith_short_8","alias_value":"XUT7KHT2","created_at":"2026-06-23T02:13:21Z"}],"graph_snapshots":[{"event_id":"sha256:f23d9baff81a19217ff07a303dce0209d89a5f1e9279ca8fb4f4e1dcd23d768a","target":"graph","created_at":"2026-06-23T02:13:21Z","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":[],"endpoint":"/pith/2603.05916/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Obstacle avoidance of polytopic obstacles by polytopic robots is a challenging problem in optimization-based control and trajectory planning. Many existing methods rely on smooth geometric approximations, such as hyperspheres or ellipsoids, which allow differentiable distance expressions but distort the true geometry and restrict the feasible set. Other approaches integrate exact polytope distances into nonlinear model predictive control (MPC), resulting in nonconvex programs that limit real-time performance. In this paper, we construct linear discrete-time control barrier function (DCBF) cons","authors_text":"Calin A. Belta, Shuo Liu, Zhe Huang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-06T05:10:44Z","title":"Iterative Convex Optimization with Control Barrier Functions for Obstacle Avoidance among Polytopes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.05916","kind":"arxiv","version":2},"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":"sha256:672af19d62ca20b33cf7b958ea2d1b179e8958c0082102ed25bcc8790e358937","target":"record","created_at":"2026-06-23T02:13:21Z","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":"96a9553a8e0d63e0eb8ec5b2d455bb720ca2cbf58e8550ce79745ef60923116c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-06T05:10:44Z","title_canon_sha256":"669e88bf9f6d7fccdb2c073b1400920c30d3f1f2e1c0a0d63cecf323b1ac7615"},"schema_version":"1.0","source":{"id":"2603.05916","kind":"arxiv","version":2}},"canonical_sha256":"bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bd27f51e7a6de22235c2a651d7e9898c4c6e992543a388008ef2d008c00ef3d0","first_computed_at":"2026-06-23T02:13:21.968578Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T02:13:21.968578Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TSeTMJ0bPkGwuSzP38Cp0qxUuSzXLv7Dl+8H/oRe8QL/+EYdW23+yIgyfEI/VwnahK4x2Xdfz24kZ/KxjXytAA==","signature_status":"signed_v1","signed_at":"2026-06-23T02:13:21.968994Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.05916","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:672af19d62ca20b33cf7b958ea2d1b179e8958c0082102ed25bcc8790e358937","sha256:f23d9baff81a19217ff07a303dce0209d89a5f1e9279ca8fb4f4e1dcd23d768a"],"state_sha256":"c4bd2df53c4d6daa5ae5512ff8ae70f8364540ade99b67b6ec2e8df2d0078279"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kDacTpHYvUkmb0yG+hCKY2JT9xt6p8dEr8IYEKhDgVOW8ShNmhIL6onpXgztgK9gGXbLOctMLeXxoWwY/ewxAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T15:51:08.001081Z","bundle_sha256":"27525e9928789d389b515fb0da932b81c5666aab42aded9ded8d710db603f4cb"}}