{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:FVSPYQS4LFV365K266DSNLPMO5","short_pith_number":"pith:FVSPYQS4","canonical_record":{"source":{"id":"2510.21546","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-10-24T15:07:09Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"e596795582f5a7da22be1d47c846a73659c26d29a1ef44ca87d06845e6be8a08","abstract_canon_sha256":"5462d4615ce7be553c682f56e286990c5999fdabee97cd8fa3ad2fd0c9ad6ea8"},"schema_version":"1.0"},"canonical_sha256":"2d64fc425c596bbf755af78726adec775de8ee8568d98e1baab47aad4385452a","source":{"kind":"arxiv","id":"2510.21546","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.21546","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"arxiv_version","alias_value":"2510.21546v2","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.21546","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_12","alias_value":"FVSPYQS4LFV3","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_16","alias_value":"FVSPYQS4LFV365K2","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_8","alias_value":"FVSPYQS4","created_at":"2026-06-19T16:12:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:FVSPYQS4LFV365K266DSNLPMO5","target":"record","payload":{"canonical_record":{"source":{"id":"2510.21546","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-10-24T15:07:09Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"e596795582f5a7da22be1d47c846a73659c26d29a1ef44ca87d06845e6be8a08","abstract_canon_sha256":"5462d4615ce7be553c682f56e286990c5999fdabee97cd8fa3ad2fd0c9ad6ea8"},"schema_version":"1.0"},"canonical_sha256":"2d64fc425c596bbf755af78726adec775de8ee8568d98e1baab47aad4385452a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:48.731363Z","signature_b64":"9xuh9ma5Wg2dUWYvVotl0QPov2DX6bX1RLv/Jh092a6J3DhmRwPgpFBOmpt17y04db8SMm/ttMO/PhXNcYVtAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2d64fc425c596bbf755af78726adec775de8ee8568d98e1baab47aad4385452a","last_reissued_at":"2026-06-19T16:12:48.730908Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:48.730908Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2510.21546","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:12:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fBj95gt98ZcumpeJIyTr+H66NnFAsTw7JStoqfKZV3gDTpPjX/qBeS+bAjk9WUE1htLpXdnh9yjMZ+dc16vdCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T14:42:01.622507Z"},"content_sha256":"cd582a228e026825cd5f4a4b42819c73444719cc499ecd54c7aa1e24032ec87e","schema_version":"1.0","event_id":"sha256:cd582a228e026825cd5f4a4b42819c73444719cc499ecd54c7aa1e24032ec87e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:FVSPYQS4LFV365K266DSNLPMO5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Auction-Based Responsibility Allocation for Scalable Decentralized Safety Filters in Cooperative Multi-Agent Collision Avoidance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Johannes Autenrieb, Mark Spiller","submitted_at":"2025-10-24T15:07:09Z","abstract_excerpt":"This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise safety under input bounds, they face feasibility and scalability challenges as the number of agents grows. Each agent must evaluate an increasing number of pairwise constraints, raising the risk of infeasibility and making it difficult to meet real-time requirements. To address this, we introduce an auction-based allocation scheme that distributes constraint e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.21546","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2510.21546/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:12:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0zcNRn3joXv8ah8Czat+/XW14Li0pLtajPy5H59gtDCnKX2SAqbuNHEwOP9IuaLnXmiTtLodEfUiW29LvP6HDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-24T14:42:01.622884Z"},"content_sha256":"16dd4ac5a7aad2ecca10bb4627372c087426489f110e56cb70da73f2e981bf79","schema_version":"1.0","event_id":"sha256:16dd4ac5a7aad2ecca10bb4627372c087426489f110e56cb70da73f2e981bf79"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FVSPYQS4LFV365K266DSNLPMO5/bundle.json","state_url":"https://pith.science/pith/FVSPYQS4LFV365K266DSNLPMO5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FVSPYQS4LFV365K266DSNLPMO5/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-24T14:42:01Z","links":{"resolver":"https://pith.science/pith/FVSPYQS4LFV365K266DSNLPMO5","bundle":"https://pith.science/pith/FVSPYQS4LFV365K266DSNLPMO5/bundle.json","state":"https://pith.science/pith/FVSPYQS4LFV365K266DSNLPMO5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FVSPYQS4LFV365K266DSNLPMO5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FVSPYQS4LFV365K266DSNLPMO5","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":"5462d4615ce7be553c682f56e286990c5999fdabee97cd8fa3ad2fd0c9ad6ea8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-10-24T15:07:09Z","title_canon_sha256":"e596795582f5a7da22be1d47c846a73659c26d29a1ef44ca87d06845e6be8a08"},"schema_version":"1.0","source":{"id":"2510.21546","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.21546","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"arxiv_version","alias_value":"2510.21546v2","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.21546","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_12","alias_value":"FVSPYQS4LFV3","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_16","alias_value":"FVSPYQS4LFV365K2","created_at":"2026-06-19T16:12:48Z"},{"alias_kind":"pith_short_8","alias_value":"FVSPYQS4","created_at":"2026-06-19T16:12:48Z"}],"graph_snapshots":[{"event_id":"sha256:16dd4ac5a7aad2ecca10bb4627372c087426489f110e56cb70da73f2e981bf79","target":"graph","created_at":"2026-06-19T16:12:48Z","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/2510.21546/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise safety under input bounds, they face feasibility and scalability challenges as the number of agents grows. Each agent must evaluate an increasing number of pairwise constraints, raising the risk of infeasibility and making it difficult to meet real-time requirements. To address this, we introduce an auction-based allocation scheme that distributes constraint e","authors_text":"Johannes Autenrieb, Mark Spiller","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-10-24T15:07:09Z","title":"Auction-Based Responsibility Allocation for Scalable Decentralized Safety Filters in Cooperative Multi-Agent Collision Avoidance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.21546","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:cd582a228e026825cd5f4a4b42819c73444719cc499ecd54c7aa1e24032ec87e","target":"record","created_at":"2026-06-19T16:12:48Z","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":"5462d4615ce7be553c682f56e286990c5999fdabee97cd8fa3ad2fd0c9ad6ea8","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2025-10-24T15:07:09Z","title_canon_sha256":"e596795582f5a7da22be1d47c846a73659c26d29a1ef44ca87d06845e6be8a08"},"schema_version":"1.0","source":{"id":"2510.21546","kind":"arxiv","version":2}},"canonical_sha256":"2d64fc425c596bbf755af78726adec775de8ee8568d98e1baab47aad4385452a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2d64fc425c596bbf755af78726adec775de8ee8568d98e1baab47aad4385452a","first_computed_at":"2026-06-19T16:12:48.730908Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:12:48.730908Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9xuh9ma5Wg2dUWYvVotl0QPov2DX6bX1RLv/Jh092a6J3DhmRwPgpFBOmpt17y04db8SMm/ttMO/PhXNcYVtAg==","signature_status":"signed_v1","signed_at":"2026-06-19T16:12:48.731363Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.21546","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cd582a228e026825cd5f4a4b42819c73444719cc499ecd54c7aa1e24032ec87e","sha256:16dd4ac5a7aad2ecca10bb4627372c087426489f110e56cb70da73f2e981bf79"],"state_sha256":"0b63e08c1e28a00e299cb33397846ecd4ae5ddcd4d163baa3d715c022d27f0f7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KXBL5YmDTgAHtwV64tqdQQeiM85jawtD8rXcLv2ELmcRd2GxypUZKM4KW7i9Lc4eKic70yYtwlZCVl/7yEpMDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-24T14:42:01.624959Z","bundle_sha256":"b988718f24a85975d8ebcf9ba5089705d3756ea1a24eaf7e0095c9df3880c361"}}