{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ZVEQRKOU4TWMF7H3345B73PSEG","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":"c7a91286a81ca793c13aaf796f41558260825a8be7312c48d5fa582fa1d5e5c2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-14T00:59:24Z","title_canon_sha256":"9200c8e849ec88e42891f40071918d0f261b78487bf1b73dc3a4414f0fb4454c"},"schema_version":"1.0","source":{"id":"1908.04903","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1908.04903","created_at":"2026-07-05T00:51:03Z"},{"alias_kind":"arxiv_version","alias_value":"1908.04903v2","created_at":"2026-07-05T00:51:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1908.04903","created_at":"2026-07-05T00:51:03Z"},{"alias_kind":"pith_short_12","alias_value":"ZVEQRKOU4TWM","created_at":"2026-07-05T00:51:03Z"},{"alias_kind":"pith_short_16","alias_value":"ZVEQRKOU4TWMF7H3","created_at":"2026-07-05T00:51:03Z"},{"alias_kind":"pith_short_8","alias_value":"ZVEQRKOU","created_at":"2026-07-05T00:51:03Z"}],"graph_snapshots":[{"event_id":"sha256:382ff369bdd146e87be644f389aad08831b3eb378c33957273dd58bb6cf0a133","target":"graph","created_at":"2026-07-05T00:51:03Z","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/1908.04903/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we consider a fragment of linear temporal logic which encompasses a large class of motion planning specifications for a robotic system. Control barrier functions have recently emerged as a convenient tool to guarantee reachability and safety for a system. In addition, they can be encoded as affine constraints in a quadratic program. In this paper, a fully autom","authors_text":"Mohit Srinivasan, Samuel Coogan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-14T00:59:24Z","title":"Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1908.04903","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:d97f732bb60715154bf37f8181003e7613698b38947df372c3e8a1d202bdb26f","target":"record","created_at":"2026-07-05T00:51:03Z","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":"c7a91286a81ca793c13aaf796f41558260825a8be7312c48d5fa582fa1d5e5c2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-08-14T00:59:24Z","title_canon_sha256":"9200c8e849ec88e42891f40071918d0f261b78487bf1b73dc3a4414f0fb4454c"},"schema_version":"1.0","source":{"id":"1908.04903","kind":"arxiv","version":2}},"canonical_sha256":"cd4908a9d4e4ecc2fcfbdf3a1fedf221a9e4844694ce402da5a994c59f5edf61","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cd4908a9d4e4ecc2fcfbdf3a1fedf221a9e4844694ce402da5a994c59f5edf61","first_computed_at":"2026-07-05T00:51:03.409156Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:51:03.409156Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mhimobiFlE4F2WITW5mWzTPScJaAvueJRCCIE8sgKvJVtYoEqZoc9SzM1jMC+3vsYNGvVmhRPUIepsZ7ob/7BA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:51:03.409572Z","signed_message":"canonical_sha256_bytes"},"source_id":"1908.04903","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d97f732bb60715154bf37f8181003e7613698b38947df372c3e8a1d202bdb26f","sha256:382ff369bdd146e87be644f389aad08831b3eb378c33957273dd58bb6cf0a133"],"state_sha256":"4e577076392c68f8c9a31246a57edaef204415486b0a438b674dea786e58128d"}