{"as_of":"2026-08-20T23:39:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:9011da7a5955221c9bfc38b1e459755e33aa69727052fb49682178f7e1f779c0","coverage":[{"denominator":43,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":43,"source":"paper_references, paper_reference_links","source_observed_at":"2026-06-27T16:35:33.255507Z","state":"measured"},{"denominator":44,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":44,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-20T06:33:59.587034+00:00","state":"measured"},{"denominator":1,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":1,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-15T15:09:30.371650Z","state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"pith","source_observed_at":"2026-08-15T15:09:30.823764Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"cited_work":{"arxiv_id":"2606.09719","doi":null,"metadata_source":"pith","pith_arxiv_id":"2606.09719","snapshot_observed_at":"2026-08-15T15:09:30.823764Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","venue":"cs.RO","work_id":"13aeb3aa-8c05-4383-bc6e-3f79a8082693","year":2026},"citing_paper":{"arxiv_id":"2608.02886","last_updated":"2026-08-03T21:15:23Z","snapshot_observed_at":"2026-08-18T15:38:42.223463Z","submitted_at":"2026-08-03T21:15:23Z","title":"Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-15T15:09:30.371650Z"},"links":{"cited_paper":"/paper/2606.09719","citing_paper":"/paper/2608.02886"},"observation_digest":"sha256:b25ce16afa4fb113098e3216a989fc9992eff408e75fa68e4b948cd40f1a08be","observation_id":"dcd59dc9-9a1f-4a9b-a41d-436d064ce847","resolution":{"observed_at":"2026-08-15T15:09:30.829723Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-20T06:33:59.587034+00:00","source":"crossref"},{"observed_at":"2026-08-20T06:33:54.927442+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2606.09719/citation-record","integrity":"/paper/2606.09719/integrity","json":"/paper/2606.09719/citation-record.json","paper":"/paper/2606.09719"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Using occupancy grids for mobile robot perception and navigation,","venue":null,"work_id":null,"year":1989},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:6f6e6d03082375262b3e2a53918239ce93bbbf85abb0c6512963b84f3a463b5c","observation_id":"46a2f94f-423e-45ed-ae55-3b95c77bd650","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"A Formal Basis for the Heuristic Determination of Minimum Cost Paths,","venue":null,"work_id":null,"year":1968},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:6c0179252732ebf37104d76a86d17f856c3a3257fc47fa86028e94c858c66570","observation_id":"f86d2545-47b7-4d0e-b177-cbbac5bfb86f","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"A Note on Two Problems in Connexion with Graphs","venue":null,"work_id":null,"year":1959},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:dd755643d52d2b4f90cea510273e5f6c5f0474035456a4a268f9f39cb4bc7ba5","observation_id":"27abf68d-7040-42f8-918c-6641901347dc","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"The Marathon 2: A Navigation System,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:b47769d3acd38745b49b036c8afd3b2dad7bc8a7094390478d8c556e88951586","observation_id":"549c7d55-b9ef-44af-a743-16cdda33e0c0","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Probabilistic roadmaps for path planning in high-dimensional configuration spaces,","venue":null,"work_id":null,"year":1996},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:a46ac78b2938985d8d7242fe3e270644ba2a4bfe0bdbeb1c4ea6abe8bcaee993","observation_id":"b0b516eb-2bbe-4d89-997b-ba42fcb4290c","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Kinodynamic trajectory planning for efficient uav exploration and reconstruction of unknown environments,","venue":null,"work_id":null,"year":2026},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:3bb440579327851d8ed4fc8c3bf0cc5a1299dc9de16533321d98c4c8bff7deaa","observation_id":"9f4f4661-dc43-416d-9833-d4a3a4150f7b","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Real-time obstacle avoidance for manipulators and mobile robots,","venue":null,"work_id":null,"year":1985},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:a94663d54c29f161c0c6bcf795e10a304b50c2ae47693ae563b9f158ca4435fd","observation_id":"f6fb2511-5f93-44b4-b6a4-1a577bb4384f","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Motion planning in dynamic environments using the relative velocity paradigm,","venue":null,"work_id":null,"year":1993},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:8558a5ce065093596b2d53832ac39a962e1151d8411be2a1dc567fb0d44c4b57","observation_id":"57c8004c-18d6-46f1-b1df-3b69570d3e20","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Constrained model predictive control: Stability and optimality,","venue":null,"work_id":null,"year":2000},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:e75f9712bb24941e29dbb500c9c3669735bcbb4b2f85c9a91d182ef2157197e8","observation_id":"141e92f9-b239-4081-a2cd-f3e834822ecf","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Embedded nonlinear model predictive control for obstacle avoidance using panoc,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:5fbb7be2425dcacc0b9caf75410246d47eb38d157fd49e1f721b917173523ea0","observation_id":"6906eea4-bd73-4e97-a2af-b41d83dfabce","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Where to go next: Learning a subgoal recommendation policy for navigation in dynamic environments,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:f84631362116424ab0d6b6358011597c089133185da41ca28974a45fd732e6f8","observation_id":"ba338503-2a3a-4d9e-839f-b794e49a65a7","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Nmpc-augmented visual navigation and safe learning control for large-scale mobile robots,","venue":null,"work_id":null,"year":2026},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:32f2a1338d76d12afeae4d5a99e9390e1f8019be261dd24e81f3f3f9f8ed5c2c","observation_id":"29cacaf8-b7a1-418e-8400-26cccf02eee1","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Control barrier functions: Theory and applications,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:bbd738d06d615c35e5e2d494582c460714212e00314b4d4c44bfcff2d616d7f8","observation_id":"64215780-c18f-4e42-aa84-64ee3da5f2cd","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"High-order control barrier functions,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:dd67b5d70f6f4dfd392376b526145cba48c8ff7fe8f604d85f523c95ed97dc4e","observation_id":"79fa671e-4233-47fb-8ff3-992c04260229","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Safety-critical planning and control for dynamic obstacle avoidance using control barrier functions,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:2d92fb88b8b68be1eaf95579f3d18c07eda501dd30b213811643fb4be0810762","observation_id":"d45513ac-38fb-4375-bd9b-0efea3731d19","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Control barrier functions in dynamic uavs for kinematic obstacle avoidance: A col- lision cone approach,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:ddd9b44c4a6d354dea696d783444c768d21395cdacd6f0cdde48adb55286ce2d","observation_id":"21be543d-7c0e-465d-995c-3cd41b6a8152","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:e769ba5855a4759af813c8bb396e6b8a013561fa835d165f91b6d6046fc9090e","observation_id":"e9167268-b83f-4af5-bd0b-83d92131db77","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Safety-critical model predictive control with discrete-time control barrier function,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:1e1367414200c5c19b2c9e30acf25bdcf84ce3f67220dba8c58b4a04c4ff6ee6","observation_id":"bc7835db-8da0-4c41-9ac6-a89b576da2f4","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Real- time-feasible collision-free motion planning for ellipsoidal objects,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:b59c418786af97324a4a347704ae22cc8fc47e12fe7dbb211d2f75cefc87030d","observation_id":"e7d66347-5f82-4483-9593-2cb436b11ec8","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Any- shape real-time replanning via swept volume sdf,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:a4a9198b6ce44e7bab11ac1cc94cf24b9304869fb35761b70b252ca1fa83273f","observation_id":"21f4d0e3-c22a-4282-a8ff-165182bd3344","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Safety-critical control and planning for obstacle avoidance between polytopes with control barrier functions,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:70c81b5beb220cee5d97a11fabe23528b4fe2ba725e0bb24e8c42d5ed55dd807","observation_id":"ad765041-d829-4a0b-9169-ccbe4960fe90","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Control barrier functions via minkowski operations for safe navigation among polytopic sets,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:0d032b837fee52aca24abf840d39bda6b9fa445916e5824ab6c1e3cc29be0775","observation_id":"87fcea3c-af10-49b5-b8af-d24225caa329","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Geometry- aware safety-critical local reactive controller for robot navigation in unknown and cluttered environments,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:7cd0279dce53702a10132f8c36a1eec3b8d838b00d299f087634c8fc6ed6b8b5","observation_id":"2a8db9c7-9551-4d00-8220-f1d0a99398f3","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Computing large convex regions of obstacle-free space through semidefinite programming,","venue":null,"work_id":null,"year":2015},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:023bdac692292b752a3ddbe75cd9f7ab296a493ab6fc29215fa50c071a64f124","observation_id":"72240f1b-b49a-4899-b879-392270abddd3","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-D complex environments,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:f176bd70e8453dd46a9868a48eeedfbc52cfb387fa060a6f94ef7790bd5f0f8a","observation_id":"5f172a08-f89d-4347-8cb6-ddd9902640f5","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Super- fast configuration-space convex set computation on GPUs for online motion planning,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:19c54ce05770cb685268d2c16db89dc55ae7500ce9bc3a376c2ef2c91d3ab108","observation_id":"8824704f-bfec-43f2-b136-4fe5ddaf5d4f","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:c1d01599e0c6bf0f6a3f9c990777a73cc3658f51e7bbbff5a544b7b525923ec1","observation_id":"cf1602d7-897c-4264-a2a5-6b47d0fc978b","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Efficient mixed-integer planning for UA Vs in cluttered environments,","venue":null,"work_id":null,"year":2015},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:a3aee03e809fc44e6b5ab423d59ba0a44730e464dd2325b93913222d526a1b00","observation_id":"c2260496-ef52-465a-838b-6f14b02f8271","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Fast Path Planning Through Large Collections of Safe Boxes,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:89b948d71815121bcf94dc8738d428ceeb650192cea4e6356ee42fc68ec45a0b","observation_id":"a1f6d1d1-8b24-4c20-a4ad-319fe3062ab5","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"A Biconvex Method for Minimum-Time Motion Planning Through Sequences of Convex Sets,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:2562e3551461ce368629d7258c7a89f3f6315165f184bf0dc94ba3219504b75c","observation_id":"3fd145d1-916f-437f-a1a6-93e2a653bb86","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Sequential convex programming methods for real-time optimal trajectory plan- ning in autonomous vehicle racing,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:b4bcc5e1b5dd4f8ed7fa19e4c5f77c08c0dd1963e12910358dbecedb982a15bb","observation_id":"b8f3f0c5-9c0d-4e45-a6da-2ed35294e983","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Towards Op- timizing a Convex Cover of Collision-Free Space for Trajectory Generation,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:41cf2d9ac523ed7ed2e929097dab5a18872d5a377e5f9cb9b4ee3527173b60f6","observation_id":"864f414b-2b55-43e7-ab8d-d0f7496476f4","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Corridor-based adaptive control barrier & lyapunov functions for safe mobile robot navigation,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:cc27b3bd25fc2ba5a6626b0fefe3a2e48120e06b924801adeb643e9e490d1996","observation_id":"efa72a3f-b956-4664-89f3-4e1b13046074","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Discrete-time control barrier function: High-order case and adaptive case,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:c73e67199da6d42ec2192ba9e8700f9ce1cbf7a0a745d203d3f271d42d4890d8","observation_id":"acb033a5-5767-4fc2-9c96-c378cb11fbf7","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"On the implementation of an interior- point filter line-search algorithm for large-scale nonlinear program- ming,","venue":null,"work_id":null,"year":2006},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:cfb8acf54b0f03bc08c00798f10222ab99886bfd329cef11ddf7898e6182f282","observation_id":"5b51958c-af49-435d-a633-0e22aa949ecb","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Fatrop: A fast constrained optimal control problem solver for robot trajectory optimization and control,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:40c755c55363f3cf04848a3a752c56dfc4aa085acc9a446edfa87c5de7d936ee","observation_id":"d4da43a9-1b02-4073-ad85-44d9d6666a5f","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Nocedal and S","venue":null,"work_id":null,"year":2006},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:ca5bdb269be9a0f0c4e26b4f063cf51018e3f30020cc105bfa739b233aad854b","observation_id":"00c167d2-3125-4947-a201-29dc0db57d16","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"CasADi – A software framework for nonlinear optimization and optimal control,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:963a277c0dd479befe80d2db0b036c9cf1b976c6feac5c753b993b454a6d9e09","observation_id":"f9084bc7-c923-494e-8be4-1a2b1c4dd4f6","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Design, modeling, and nonlinear model predictive tracking control of a novel autonomous surface vehicle,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:ae3059bc3c1a9427ee513cc21798a24256de44d507dcecb2b072338428b98e85","observation_id":"a87ebda5-43b8-412b-a2a8-d5bbd7e425d2","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"ROS: an open-source robot operating system,","venue":null,"work_id":null,"year":2009},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":40,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:ed6dca91798a2a74a55f710b1ce0a22384285bc0831a5333fd16e23556418305","observation_id":"a7105a53-1d44-488a-b138-470ff4b5973b","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Design and use paradigms for gazebo, an open-source multi-robot simulator,","venue":null,"work_id":null,"year":2004},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":41,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:950d207f53be1160db7ca54a98d27a98c18f329346506988f3febb8eda5b35e6","observation_id":"c94d4b73-90a2-4242-899a-b6e0d727a0d4","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"A receding horizon multi-objective planner for autonomous surface vehicles in urban waterways,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:2b32670d20ddd44ea56435ee499c70c392099970064423c3c6ef638b6f5019d0","observation_id":"4ac32ced-e4a8-4b7f-86e4-80f1e4a0d9f2","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-06-27T16:35:33.255507Z","title":"Robot operating system 2: Design, architecture, and uses in the wild,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions","version":1},"reference_index":43,"source":"pdf_text","source_observed_at":"2026-06-27T16:35:33.255507Z"},"links":{"citing_paper":"/paper/2606.09719"},"observation_digest":"sha256:7a59ee8bd1e01c74682d12cf843499d5dce64e7d5d9416eb09f9cf2d26699a0f","observation_id":"cffd0d4b-192d-4183-bceb-c9cc4a909f11","resolution":{"observed_at":"2026-06-27T16:35:33.255507Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2606.09719","last_updated":"2026-06-08T16:44:28Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-01T14:19:44.049051Z","submitted_at":"2026-06-08T16:44:28Z","title":"Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions"},"reference_resolution":{"displayed":43,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":43,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":43},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-20T06:33:59.587034+00:00","source":"crossref"},{"observed_at":"2026-08-20T06:33:54.927442+00:00","source":"retraction_watch"}],"thesis":"As of 20 August 2026, this Paper Citation Record lists 43 of 43 outbound references and 1 inbound Pith citation observation for arXiv:2606.09719."}