{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:4US6LT3HGFNRYZRROXAEED6QAY","short_pith_number":"pith:4US6LT3H","schema_version":"1.0","canonical_sha256":"e525e5cf67315b1c663175c0420fd0063e35eab21d121afaf9c0696c787da614","source":{"kind":"arxiv","id":"2304.11757","version":1},"attestation_state":"computed","paper":{"title":"Computing Controlled Invariant Sets of Nonlinear Control-Affine Systems","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Mohammad Khajenejad, Scott Brown, Sonia Martinez, Sze Zheng Yong","submitted_at":"2023-04-23T22:03:34Z","abstract_excerpt":"In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based on polytopic inclusion functions, which is able to approximate the maximal controlled invariant set to within a guaranteed precision. In particular, this procedure allows us to guarantee the invariance of the resulting near-maximal CIS while also computing sets of control inputs that enforce the invariance. Further, we propose an accelerated version of this procedure which refines the CIS by computing backward reacha"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2304.11757","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"math.OC","submitted_at":"2023-04-23T22:03:34Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"3163ddd9c19be642f9288b663b3d947ff18ecfbe3d87447a01af8fa243e5b95a","abstract_canon_sha256":"df25b1b47954baf659a586ada86a6b09997092378eaae4413d7d5bf490b5f48c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:03:36.800297Z","signature_b64":"ydnexmUNZjvm6GfRMH5RUcbESRESuTP4Ah6hku9VRYcWPyMOBQA3KHXcItiVmtx3IWgrpzn2oaEJ+WFtuyPiCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e525e5cf67315b1c663175c0420fd0063e35eab21d121afaf9c0696c787da614","last_reissued_at":"2026-07-05T06:03:36.799916Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:03:36.799916Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Computing Controlled Invariant Sets of Nonlinear Control-Affine Systems","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"math.OC","authors_text":"Mohammad Khajenejad, Scott Brown, Sonia Martinez, Sze Zheng Yong","submitted_at":"2023-04-23T22:03:34Z","abstract_excerpt":"In this paper, we consider the computation of controlled invariant sets (CIS) of discrete-time nonlinear control affine systems. We propose an iterative refinement procedure based on polytopic inclusion functions, which is able to approximate the maximal controlled invariant set to within a guaranteed precision. In particular, this procedure allows us to guarantee the invariance of the resulting near-maximal CIS while also computing sets of control inputs that enforce the invariance. Further, we propose an accelerated version of this procedure which refines the CIS by computing backward reacha"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.11757","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2304.11757/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2304.11757","created_at":"2026-07-05T06:03:36.799971+00:00"},{"alias_kind":"arxiv_version","alias_value":"2304.11757v1","created_at":"2026-07-05T06:03:36.799971+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2304.11757","created_at":"2026-07-05T06:03:36.799971+00:00"},{"alias_kind":"pith_short_12","alias_value":"4US6LT3HGFNR","created_at":"2026-07-05T06:03:36.799971+00:00"},{"alias_kind":"pith_short_16","alias_value":"4US6LT3HGFNRYZRR","created_at":"2026-07-05T06:03:36.799971+00:00"},{"alias_kind":"pith_short_8","alias_value":"4US6LT3H","created_at":"2026-07-05T06:03:36.799971+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2509.03899","citing_title":"Sample Efficient Certification of Discrete-Time Control Barrier Functions","ref_index":9,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY","json":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY.json","graph_json":"https://pith.science/api/pith-number/4US6LT3HGFNRYZRROXAEED6QAY/graph.json","events_json":"https://pith.science/api/pith-number/4US6LT3HGFNRYZRROXAEED6QAY/events.json","paper":"https://pith.science/paper/4US6LT3H"},"agent_actions":{"view_html":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY","download_json":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY.json","view_paper":"https://pith.science/paper/4US6LT3H","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2304.11757&json=true","fetch_graph":"https://pith.science/api/pith-number/4US6LT3HGFNRYZRROXAEED6QAY/graph.json","fetch_events":"https://pith.science/api/pith-number/4US6LT3HGFNRYZRROXAEED6QAY/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY/action/storage_attestation","attest_author":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY/action/author_attestation","sign_citation":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY/action/citation_signature","submit_replication":"https://pith.science/pith/4US6LT3HGFNRYZRROXAEED6QAY/action/replication_record"}},"created_at":"2026-07-05T06:03:36.799971+00:00","updated_at":"2026-07-05T06:03:36.799971+00:00"}