{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:FA3DJVHLGXT5PIILKLNCK7E4LJ","short_pith_number":"pith:FA3DJVHL","canonical_record":{"source":{"id":"2209.06896","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-14T19:47:46Z","cross_cats_sorted":[],"title_canon_sha256":"5747c3dd34d5b34c26102f11733452170ffae6b67e5a7a5e2913fe7843129f28","abstract_canon_sha256":"cdb74d9f845bbbb4bec2369bb966b2e6e5d7bfb8dff1d9a71d64263fca8ebbec"},"schema_version":"1.0"},"canonical_sha256":"283634d4eb35e7d7a10b52da257c9c5a5e504d3563b8b51fcdf2f97aa308ae4d","source":{"kind":"arxiv","id":"2209.06896","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.06896","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"arxiv_version","alias_value":"2209.06896v4","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.06896","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_12","alias_value":"FA3DJVHLGXT5","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_16","alias_value":"FA3DJVHLGXT5PIIL","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_8","alias_value":"FA3DJVHL","created_at":"2026-07-05T05:48:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:FA3DJVHLGXT5PIILKLNCK7E4LJ","target":"record","payload":{"canonical_record":{"source":{"id":"2209.06896","kind":"arxiv","version":4},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-14T19:47:46Z","cross_cats_sorted":[],"title_canon_sha256":"5747c3dd34d5b34c26102f11733452170ffae6b67e5a7a5e2913fe7843129f28","abstract_canon_sha256":"cdb74d9f845bbbb4bec2369bb966b2e6e5d7bfb8dff1d9a71d64263fca8ebbec"},"schema_version":"1.0"},"canonical_sha256":"283634d4eb35e7d7a10b52da257c9c5a5e504d3563b8b51fcdf2f97aa308ae4d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:48:38.764062Z","signature_b64":"N7Szneslf+wXbZYERApHacRAn7nScKaUz0h5HLraKywp6zhdvHvSN1FBxvtgItnwLLiuV2IiGEzIl5/lBCisAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"283634d4eb35e7d7a10b52da257c9c5a5e504d3563b8b51fcdf2f97aa308ae4d","last_reissued_at":"2026-07-05T05:48:38.763586Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:48:38.763586Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.06896","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T05:48:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"e+7jSE2jwEx6oxBBNqbLeDd3AuwdkLnG1wAbOJacjngVsvJrutm2EFiTmY9fwCp+GGdsyd7FwqdCHdBqzLC2DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T19:58:05.416341Z"},"content_sha256":"0d787a094b5ecb95128d0286a68df9a1f6f42b05c21158b949faaa4e2fdab3e2","schema_version":"1.0","event_id":"sha256:0d787a094b5ecb95128d0286a68df9a1f6f42b05c21158b949faaa4e2fdab3e2"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:FA3DJVHLGXT5PIILKLNCK7E4LJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Changliu Liu, Shucheng Kang, Tianhao Wei, Weiye Zhao","submitted_at":"2022-09-14T19:47:46Z","abstract_excerpt":"Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use loose over-approximation of uncertainties, leading to conservative safe controls. To address these challenges, we propose a control-limits aware robust safe control framework for bounded state-dependent uncertainties. We propose safety index synthesis to find a robust safe controller guaranteed to be realizable under control limits. And we solve for robust s"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.06896","kind":"arxiv","version":4},"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/2209.06896/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":"2026-07-05T05:48:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F0LoFcsU8PxMn9xO5MM02Jvgb1yCMo6VTR7aD98u5HpzKbAGyBbr24FsJvwHL2BOHVcmJy3eRY4/Mzq4U1XhCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T19:58:05.416857Z"},"content_sha256":"d82b39e87d68d0b77b30c42809921d1fd69361722b1b3d4cb2e7883974f45433","schema_version":"1.0","event_id":"sha256:d82b39e87d68d0b77b30c42809921d1fd69361722b1b3d4cb2e7883974f45433"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/bundle.json","state_url":"https://pith.science/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/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":"2026-08-03T19:58:05Z","links":{"resolver":"https://pith.science/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ","bundle":"https://pith.science/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/bundle.json","state":"https://pith.science/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FA3DJVHLGXT5PIILKLNCK7E4LJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:FA3DJVHLGXT5PIILKLNCK7E4LJ","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":"cdb74d9f845bbbb4bec2369bb966b2e6e5d7bfb8dff1d9a71d64263fca8ebbec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-14T19:47:46Z","title_canon_sha256":"5747c3dd34d5b34c26102f11733452170ffae6b67e5a7a5e2913fe7843129f28"},"schema_version":"1.0","source":{"id":"2209.06896","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.06896","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"arxiv_version","alias_value":"2209.06896v4","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.06896","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_12","alias_value":"FA3DJVHLGXT5","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_16","alias_value":"FA3DJVHLGXT5PIIL","created_at":"2026-07-05T05:48:38Z"},{"alias_kind":"pith_short_8","alias_value":"FA3DJVHL","created_at":"2026-07-05T05:48:38Z"}],"graph_snapshots":[{"event_id":"sha256:d82b39e87d68d0b77b30c42809921d1fd69361722b1b3d4cb2e7883974f45433","target":"graph","created_at":"2026-07-05T05:48:38Z","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/2209.06896/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use loose over-approximation of uncertainties, leading to conservative safe controls. To address these challenges, we propose a control-limits aware robust safe control framework for bounded state-dependent uncertainties. We propose safety index synthesis to find a robust safe controller guaranteed to be realizable under control limits. And we solve for robust s","authors_text":"Changliu Liu, Shucheng Kang, Tianhao Wei, Weiye Zhao","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-14T19:47:46Z","title":"Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.06896","kind":"arxiv","version":4},"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":"sha256:0d787a094b5ecb95128d0286a68df9a1f6f42b05c21158b949faaa4e2fdab3e2","target":"record","created_at":"2026-07-05T05:48:38Z","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":"cdb74d9f845bbbb4bec2369bb966b2e6e5d7bfb8dff1d9a71d64263fca8ebbec","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-14T19:47:46Z","title_canon_sha256":"5747c3dd34d5b34c26102f11733452170ffae6b67e5a7a5e2913fe7843129f28"},"schema_version":"1.0","source":{"id":"2209.06896","kind":"arxiv","version":4}},"canonical_sha256":"283634d4eb35e7d7a10b52da257c9c5a5e504d3563b8b51fcdf2f97aa308ae4d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"283634d4eb35e7d7a10b52da257c9c5a5e504d3563b8b51fcdf2f97aa308ae4d","first_computed_at":"2026-07-05T05:48:38.763586Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:48:38.763586Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"N7Szneslf+wXbZYERApHacRAn7nScKaUz0h5HLraKywp6zhdvHvSN1FBxvtgItnwLLiuV2IiGEzIl5/lBCisAw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:48:38.764062Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.06896","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0d787a094b5ecb95128d0286a68df9a1f6f42b05c21158b949faaa4e2fdab3e2","sha256:d82b39e87d68d0b77b30c42809921d1fd69361722b1b3d4cb2e7883974f45433"],"state_sha256":"3373c3d3be4a0ab89374f3a52769b5348574ceac6fc9b6172d5b4a3d44ec0dc1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XevNaKyH3EZBOwEIp2tpz35bEyqQNzI7Oe6BQEVTUcud4PyP85a/gz9FePSs6fNXQmdQeKI3fEWQGrGFv+UkCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T19:58:05.422311Z","bundle_sha256":"8f7887c06facef8f7bc68a8f64a0d07fb4eca128a2b26ad813413da26e8ca834"}}