{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:YJGOH5WJ4KRD3FCKBSVJEQF4MX","short_pith_number":"pith:YJGOH5WJ","canonical_record":{"source":{"id":"2501.09289","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2025-01-16T04:46:46Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ab1b7adc9fca3aa0c7110a04d5c230029b0c5f2f8408f95406f68f6ed17fe2fd","abstract_canon_sha256":"2f0309599312cc07df25c1206bd5d2bc0038c24ff4a0d553d42403a1179f1307"},"schema_version":"1.0"},"canonical_sha256":"c24ce3f6c9e2a23d944a0caa9240bc65fc486b00e2e9465e391f061880b31e23","source":{"kind":"arxiv","id":"2501.09289","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.09289","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"arxiv_version","alias_value":"2501.09289v1","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.09289","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_12","alias_value":"YJGOH5WJ4KRD","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_16","alias_value":"YJGOH5WJ4KRD3FCK","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_8","alias_value":"YJGOH5WJ","created_at":"2026-07-05T10:01:56Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:YJGOH5WJ4KRD3FCKBSVJEQF4MX","target":"record","payload":{"canonical_record":{"source":{"id":"2501.09289","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2025-01-16T04:46:46Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"ab1b7adc9fca3aa0c7110a04d5c230029b0c5f2f8408f95406f68f6ed17fe2fd","abstract_canon_sha256":"2f0309599312cc07df25c1206bd5d2bc0038c24ff4a0d553d42403a1179f1307"},"schema_version":"1.0"},"canonical_sha256":"c24ce3f6c9e2a23d944a0caa9240bc65fc486b00e2e9465e391f061880b31e23","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:01:56.706728Z","signature_b64":"nKVYLlz6T6bVusEGg+Lxk0Nt0t/PTdTCINXT/d/gDHe42zAbpnxxgMcJCOBUKmTK6GNE9ZYnUeHr7wE5HwlaAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c24ce3f6c9e2a23d944a0caa9240bc65fc486b00e2e9465e391f061880b31e23","last_reissued_at":"2026-07-05T10:01:56.706230Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:01:56.706230Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2501.09289","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":"2026-07-05T10:01:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"17nOUpOu4wjTiEF70Xqobe0e9I+UeM2ODsk5MwCwx7/ufpmaBAM3k9BS39iV1RoYQmNWJgUNQ3Sa0N7OeKh4Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T22:28:49.529398Z"},"content_sha256":"72ed1095d8bc030ae4dfd22c773d19fe292bb7619ac9d558d5352714f4c1f82a","schema_version":"1.0","event_id":"sha256:72ed1095d8bc030ae4dfd22c773d19fe292bb7619ac9d558d5352714f4c1f82a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:YJGOH5WJ4KRD3FCKBSVJEQF4MX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control Barrier Function-Based Safety Filters: Characterization of Undesired Equilibria, Unbounded Trajectories, and Limit Cycles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Emiliano Dall'Anese, Jorge Cort\\'es, Pol Mestres, Yiting Chen","submitted_at":"2025-01-16T04:46:46Z","abstract_excerpt":"This paper focuses on safety filters designed based on Control Barrier Functions (CBFs): these are modifications of a nominal stabilizing controller typically utilized in safety-critical control applications to render a given subset of states forward invariant. The paper investigates the dynamical properties of the closed-loop systems, with a focus on characterizing undesirable behaviors that may emerge due to the use of CBF-based filters. These undesirable behaviors include unbounded trajectories, limit cycles, and undesired equilibria, which can be locally stable and even form a continuum. O"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.09289","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/2501.09289/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":"2026-07-05T10:01:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qdPPUKDFqzc+fgd+4t1qlZixklGVdbw8YN80r5gadeu9t1MoBXnNZp9NxVec2gFc8QTvALfwT/xzayGTiT58BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T22:28:49.529889Z"},"content_sha256":"6489255a1d092e566cf22c17f498a5bb88d66ca53b8668f781600ca6aca14ce5","schema_version":"1.0","event_id":"sha256:6489255a1d092e566cf22c17f498a5bb88d66ca53b8668f781600ca6aca14ce5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/bundle.json","state_url":"https://pith.science/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/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":"2026-08-16T22:28:49Z","links":{"resolver":"https://pith.science/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX","bundle":"https://pith.science/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/bundle.json","state":"https://pith.science/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/YJGOH5WJ4KRD3FCKBSVJEQF4MX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YJGOH5WJ4KRD3FCKBSVJEQF4MX","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":"2f0309599312cc07df25c1206bd5d2bc0038c24ff4a0d553d42403a1179f1307","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2025-01-16T04:46:46Z","title_canon_sha256":"ab1b7adc9fca3aa0c7110a04d5c230029b0c5f2f8408f95406f68f6ed17fe2fd"},"schema_version":"1.0","source":{"id":"2501.09289","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2501.09289","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"arxiv_version","alias_value":"2501.09289v1","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2501.09289","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_12","alias_value":"YJGOH5WJ4KRD","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_16","alias_value":"YJGOH5WJ4KRD3FCK","created_at":"2026-07-05T10:01:56Z"},{"alias_kind":"pith_short_8","alias_value":"YJGOH5WJ","created_at":"2026-07-05T10:01:56Z"}],"graph_snapshots":[{"event_id":"sha256:6489255a1d092e566cf22c17f498a5bb88d66ca53b8668f781600ca6aca14ce5","target":"graph","created_at":"2026-07-05T10:01:56Z","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/2501.09289/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper focuses on safety filters designed based on Control Barrier Functions (CBFs): these are modifications of a nominal stabilizing controller typically utilized in safety-critical control applications to render a given subset of states forward invariant. The paper investigates the dynamical properties of the closed-loop systems, with a focus on characterizing undesirable behaviors that may emerge due to the use of CBF-based filters. These undesirable behaviors include unbounded trajectories, limit cycles, and undesired equilibria, which can be locally stable and even form a continuum. O","authors_text":"Emiliano Dall'Anese, Jorge Cort\\'es, Pol Mestres, Yiting Chen","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2025-01-16T04:46:46Z","title":"Control Barrier Function-Based Safety Filters: Characterization of Undesired Equilibria, Unbounded Trajectories, and Limit Cycles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2501.09289","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":"sha256:72ed1095d8bc030ae4dfd22c773d19fe292bb7619ac9d558d5352714f4c1f82a","target":"record","created_at":"2026-07-05T10:01:56Z","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":"2f0309599312cc07df25c1206bd5d2bc0038c24ff4a0d553d42403a1179f1307","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2025-01-16T04:46:46Z","title_canon_sha256":"ab1b7adc9fca3aa0c7110a04d5c230029b0c5f2f8408f95406f68f6ed17fe2fd"},"schema_version":"1.0","source":{"id":"2501.09289","kind":"arxiv","version":1}},"canonical_sha256":"c24ce3f6c9e2a23d944a0caa9240bc65fc486b00e2e9465e391f061880b31e23","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c24ce3f6c9e2a23d944a0caa9240bc65fc486b00e2e9465e391f061880b31e23","first_computed_at":"2026-07-05T10:01:56.706230Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:01:56.706230Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nKVYLlz6T6bVusEGg+Lxk0Nt0t/PTdTCINXT/d/gDHe42zAbpnxxgMcJCOBUKmTK6GNE9ZYnUeHr7wE5HwlaAA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:01:56.706728Z","signed_message":"canonical_sha256_bytes"},"source_id":"2501.09289","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:72ed1095d8bc030ae4dfd22c773d19fe292bb7619ac9d558d5352714f4c1f82a","sha256:6489255a1d092e566cf22c17f498a5bb88d66ca53b8668f781600ca6aca14ce5"],"state_sha256":"f65f90e4166620d3ccfb7aa40f9eaaf4ea60697bf4b00d1887143dd9a34889be"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sqEQ67ckAlaVEVlrtadromvBREGY7zkGULRgFO9HcuMqYNmTqAb1/QkYUBzqcjo6GGzuI2EQZJZJvoXPbk/BCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T22:28:49.534242Z","bundle_sha256":"d6e82427b9ae40a3e008d6fef5e78ba9192baeb299510eb4badeaf8a86399e92"}}