{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:RX6OOXOUB3S3QJXB25R673XUCW","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":"e57765c8a10f80cb0330b5cd543bba570eb2e25d00b9b8dd5088bd19f157c806","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-05-18T00:13:27Z","title_canon_sha256":"7ac3121694319ab3e7306ee30f5d0c3d2773956fbe16e41932bcc73373aed4f1"},"schema_version":"1.0","source":{"id":"2305.10620","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.10620","created_at":"2026-07-05T09:18:18Z"},{"alias_kind":"arxiv_version","alias_value":"2305.10620v4","created_at":"2026-07-05T09:18:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.10620","created_at":"2026-07-05T09:18:18Z"},{"alias_kind":"pith_short_12","alias_value":"RX6OOXOUB3S3","created_at":"2026-07-05T09:18:18Z"},{"alias_kind":"pith_short_16","alias_value":"RX6OOXOUB3S3QJXB","created_at":"2026-07-05T09:18:18Z"},{"alias_kind":"pith_short_8","alias_value":"RX6OOXOU","created_at":"2026-07-05T09:18:18Z"}],"graph_snapshots":[{"event_id":"sha256:b3b1c59defbd964bf757fcaff264114317b18a82d9320cc4065d6ceee2fda65a","target":"graph","created_at":"2026-07-05T09:18:18Z","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/2305.10620/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including linear and quadratic programs subject to affine constraints, which are shown to be feasible. The first control method relies on a soft-minimum barrier function that is constructed using a finite-time-horizon prediction of the system trajectories under a known backup control. The main result shows that the control is continuous and satisfies the actuator const","authors_text":"Jesse B. Hoagg, Pedram Rabiee","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-05-18T00:13:27Z","title":"Soft-Minimum and Soft-Maximum Barrier Functions for Safety with Actuation Constraints"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.10620","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":"sha256:4dc5a63598beb3f274939cad59d55130eaddc4f395ed17f22edc6807557da15b","target":"record","created_at":"2026-07-05T09:18:18Z","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":"e57765c8a10f80cb0330b5cd543bba570eb2e25d00b9b8dd5088bd19f157c806","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2023-05-18T00:13:27Z","title_canon_sha256":"7ac3121694319ab3e7306ee30f5d0c3d2773956fbe16e41932bcc73373aed4f1"},"schema_version":"1.0","source":{"id":"2305.10620","kind":"arxiv","version":4}},"canonical_sha256":"8dfce75dd40ee5b826e1d763efeef415b11b16274c982a10820addd0002be041","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8dfce75dd40ee5b826e1d763efeef415b11b16274c982a10820addd0002be041","first_computed_at":"2026-07-05T09:18:18.841004Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:18:18.841004Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F+LGFNwgzAELygMKPT5IrW32l94JqQB8FatsKKtibiGG5r2LoCZNul5IL9IMeQbIwAVaoA+NxZG4R+29r+I1DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T09:18:18.841435Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.10620","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4dc5a63598beb3f274939cad59d55130eaddc4f395ed17f22edc6807557da15b","sha256:b3b1c59defbd964bf757fcaff264114317b18a82d9320cc4065d6ceee2fda65a"],"state_sha256":"871a14c61fbfb05ad26f0321987cd330c9e0a85dc28a93edf25762c9a3a12368"}