Paper Citation Record · LEDGER

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control

As of 20 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 0 inbound Pith citation observations for arXiv:2504.17647.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2504.17647 v2

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T10:47:11.650425Z

measured 37 of 37 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

37 of 37 outbound references displayed

verified exact1
verified fuzzy26
unresolved10
parse uncertain0
malformed identifier0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 8e97a032-78e6-4e47-b266-32980f7bbbe7 · outbound

This paper cites A safety-aware kin- odynamic architecture for human-robot collaboration,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control A safety-aware kin- odynamic architecture for human-robot collaboration,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.065228Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 6519ffac-a86b-42b5-833d-85e6a84274eb · outbound

This paper cites S*: On safe and time efficient robot motion planning,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control S*: On safe and time efficient robot motion planning,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.053492Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 63b4fc32-8956-46a2-8c54-8cf2c1ddef85 · outbound

This paper cites Pro- mind*: Proximity and reactivity optimisation of robot motion to tune safety limits, human stress, and productivity in industrial settings,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Pro- mind*: Proximity and reactivity optimisation of robot motion to tune safety limits, human stress, and productivity in industrial settings,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.041404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 4b8eba87-ac36-4c86-bd98-af1b22743e56 · outbound

This paper cites Complementarity-based dy- namic simulation for kinodynamic motion planning,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Complementarity-based dy- namic simulation for kinodynamic motion planning,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.029846Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 28c5c06d-479f-4513-922e-90460142f5fc · outbound

This paper cites Task space planning with complementarity constraint-based obstacle avoidance,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Task space planning with complementarity constraint-based obstacle avoidance,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.017982Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b93123a7-e063-454c-86c3-f8c03ed1e72b · outbound

This paper cites Oc3: A reactive velocity level motion planner with complementarity constraint-based obstacle avoid- ance for mobile robots,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Oc3: A reactive velocity level motion planner with complementarity constraint-based obstacle avoid- ance for mobile robots,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:12.005137Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 7e33802c-02f9-470a-a3b6-e9703f6c1b37 · outbound

This paper cites On the synthesis of reactive collision-free whole- body robot motions: A complementarity-based approach,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control On the synthesis of reactive collision-free whole- body robot motions: A complementarity-based approach,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.991937Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 1869c810-fbf1-4973-bf30-af5daaa7d39f · outbound

This paper cites Control barrier function based quadratic programs for safety critical systems,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Control barrier function based quadratic programs for safety critical systems,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.542190Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5f032a7-0f70-4b21-9b47-5908d108f30a · outbound

This paper cites Control barrier functions: Theory and applications,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Control barrier functions: Theory and applications,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.545642Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d80eaf40-48c4-4c94-847a-c9dd92d50b79 · outbound

This paper cites Control barrier functions in sampled-data systems,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Control barrier functions in sampled-data systems,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.966970Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation a677b98e-fb6b-47f3-bb31-867e9b5518e0 · outbound

This paper cites Real-time obstacle avoidance for manipulators and mobile robots,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Real-time obstacle avoidance for manipulators and mobile robots,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.552831Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73ea8e80-dae0-46fe-8203-93c5360e4abb · outbound

This paper cites Rimon, Exact robot navigation using artificial potential functions.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Rimon, Exact robot navigation using artificial potential functions

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.949247Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2d60435a-2e87-4d57-9edc-701bce3b1615 · outbound

This paper cites Aubin, Viability Theory.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Aubin, Viability Theory

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.937851Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 87e3c3b4-d531-425c-aeec-d01e10dde210 · outbound

This paper cites A direct method for trajectory optimization of rigid bodies through contact,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control A direct method for trajectory optimization of rigid bodies through contact,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.564024Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5a3cf342-566a-4192-a739-bfe53d7f62a9 · outbound

This paper cites Simultaneous tra- jectory optimization and contact selection for multi-modal manipulation planning,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Simultaneous tra- jectory optimization and contact selection for multi-modal manipulation planning,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.919620Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 65a2198c-08cd-4a51-8068-4f85ca5e4b05 · outbound

This paper cites Simultaneous trajectory optimization and contact selection for contact-rich manipula- tion with high-fidelity geometry,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Simultaneous trajectory optimization and contact selection for contact-rich manipula- tion with high-fidelity geometry,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.908352Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b4b2f98a-aa31-42ec-a2ae-458befacc88d · outbound

This paper cites Contact models in robotics: a comparative analysis,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Contact models in robotics: a comparative analysis,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.895603Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3d64d5b5-02fc-489f-b12f-7fa97704bb45 · outbound

This paper cites A contribution to the analysis of unilateral contact problems with friction,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control A contribution to the analysis of unilateral contact problems with friction,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.883742Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2e3b87eb-ac7f-4a71-b987-0d3e4bc560e0 · outbound

This paper cites The path solver: a nommonotone sta- bilization scheme for mixed complementarity problems,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control The path solver: a nommonotone sta- bilization scheme for mixed complementarity problems,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.583914Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 537f7df5-4494-47f9-a009-9268b5faf628 · outbound

This paper cites A gauss-seidel like algorithm to solve frictional contact problems,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control A gauss-seidel like algorithm to solve frictional contact problems,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.865134Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8f02c9a7-5851-414c-8c29-d4ec94b9a28e · outbound

This paper cites Numerical methods for linear complementarity problems in physics-based animation,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Numerical methods for linear complementarity problems in physics-based animation,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.853817Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation dce9628b-c4c4-46a2-bbdf-cd6a98244a31 · outbound

This paper cites Safety barrier functions for human-robot interaction with industrial manipula- tors,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Safety barrier functions for human-robot interaction with industrial manipula- tors,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.842832Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8fbb26e4-f203-45c6-899b-7e64b4550ea4 · outbound

This paper cites Energy based control barrier functions for robotic manipulators with large safety constraints,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Energy based control barrier functions for robotic manipulators with large safety constraints,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.830324Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation daf0c8d1-4eb4-453e-8316-05fc25a3e4fb · outbound

This paper cites Safety-critical manipulation for collision-free food preparation,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Safety-critical manipulation for collision-free food preparation,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.603104Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 12b54a8d-4175-4d8b-b501-a9a640aa1c14 · outbound

This paper cites Dual-mode human-robot collaboration with guar- anteed safety using time-varying zeroing control barrier functions and quadratic program,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Dual-mode human-robot collaboration with guar- anteed safety using time-varying zeroing control barrier functions and quadratic program,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.811200Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 03bc1bda-dcae-48c8-b1a5-ea0103e820bc · outbound

This paper cites Safety-guaranteed and task-consistent human-robot interaction using high-order time-varying control barrier functions and quadratic programs,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Safety-guaranteed and task-consistent human-robot interaction using high-order time-varying control barrier functions and quadratic programs,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.799873Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation be47be03-185a-4cbf-aa7a-260f67444bfc · outbound

This paper cites Real- time safety and control of robotic manipulators with torque saturation in operational space,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Real- time safety and control of robotic manipulators with torque saturation in operational space,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.789468Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 9431ea31-bf66-41f3-b45e-38911328ba11 · outbound

This paper cites Safety com- pliant control for robotic manipulator with task and input constraints,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Safety com- pliant control for robotic manipulator with task and input constraints,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.617853Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4dd67eb5-4975-4a6f-88de-3007e6eb24dd · outbound

This paper cites Safety and efficiency in robotics: The control barrier functions approach,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Safety and efficiency in robotics: The control barrier functions approach,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.771681Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 942ccd68-b4e6-4e67-aff6-2c06d2232202 · outbound

This paper cites Representing robot geometry as distance fields: Applications to whole-body manipulation,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Representing robot geometry as distance fields: Applications to whole-body manipulation,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.625193Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 929d137a-eccb-4a8c-86f2-14971c602b85 · outbound

This paper cites Regularized deep signed distance fields for reactive motion generation,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Regularized deep signed distance fields for reactive motion generation,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.629108Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5470579-ea9c-4457-9e14-4097814d5330 · outbound

This paper cites Adaptive Distance Functions via Kelvin Transformation.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Adaptive Distance Functions via Kelvin Transformation

Reference 32

Resolution: verified exact; local_arxiv, observed 2026-08-16T10:47:11.687106Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e8723550-46c9-452c-b361-f09d0818112f · outbound

This paper cites Complementarity problem formulation of three- dimensional frictional contact,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Complementarity problem formulation of three- dimensional frictional contact,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.746974Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3d3203f0-e21f-44a1-9d35-055aeb2c5a42 · outbound

This paper cites Complementarity formulations and exis- tence of solutions of dynamic multi-rigid-body contact problems with coulomb friction,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Complementarity formulations and exis- tence of solutions of dynamic multi-rigid-body contact problems with coulomb friction,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.731793Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b6ef52aa-4c3d-4f4d-ba5a-b651644ac282 · outbound

This paper cites Active constraints using vector field inequalities for surgical robots,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Active constraints using vector field inequalities for surgical robots,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.718942Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 20369d2f-9027-4e55-84ab-a9cd861b31c0 · outbound

This paper cites an unresolved cited work.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control Unresolved cited work

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-16T10:47:11.647031Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 46472a16-eae8-479e-8384-b3c00f9c93e9 · outbound

This paper cites The linear complimentarity problem, sufficient matrices, and the criss-cross method,.

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control The linear complimentarity problem, sufficient matrices, and the criss-cross method,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:47:11.699151Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

No inbound Pith citation observations are available.