{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:XXRQTRSNJZGJWDZ6WXFCFW3JBY","short_pith_number":"pith:XXRQTRSN","canonical_record":{"source":{"id":"1610.01243","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-10-05T00:56:12Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"929e97851da68835cd40f0b2fc84089f0b58d5a6fec070eefe11d20ea2ca058a","abstract_canon_sha256":"69e844793a2f7e9c693d3f2c0d185fbec257a0233e5bf7af7bef7c3f4e330250"},"schema_version":"1.0"},"canonical_sha256":"bde309c64d4e4c9b0f3eb5ca22db690e03c174eb6d8cced45306d5bb2c022b9e","source":{"kind":"arxiv","id":"1610.01243","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01243","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01243v1","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01243","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"pith_short_12","alias_value":"XXRQTRSNJZGJ","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_16","alias_value":"XXRQTRSNJZGJWDZ6","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_8","alias_value":"XXRQTRSN","created_at":"2026-05-18T12:30:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:XXRQTRSNJZGJWDZ6WXFCFW3JBY","target":"record","payload":{"canonical_record":{"source":{"id":"1610.01243","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-10-05T00:56:12Z","cross_cats_sorted":["cs.RO","math.OC"],"title_canon_sha256":"929e97851da68835cd40f0b2fc84089f0b58d5a6fec070eefe11d20ea2ca058a","abstract_canon_sha256":"69e844793a2f7e9c693d3f2c0d185fbec257a0233e5bf7af7bef7c3f4e330250"},"schema_version":"1.0"},"canonical_sha256":"bde309c64d4e4c9b0f3eb5ca22db690e03c174eb6d8cced45306d5bb2c022b9e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:03:11.337237Z","signature_b64":"9E8X9t4tt6dB4t8cd8lzw8TjcdaTMKB8+15E+xmfKuWaRnN1/kkfFfEbKQLfFx2IgyNErET4EBssVvPzPY/JAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bde309c64d4e4c9b0f3eb5ca22db690e03c174eb6d8cced45306d5bb2c022b9e","last_reissued_at":"2026-05-18T01:03:11.336723Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:03:11.336723Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1610.01243","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:03:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6mPU9h0FYm/8MCNnBz7tXQfRW4fo3p8o5EBR0mq+cDkZJs0si4fxiWjSZmldsr79pHpgCWC17qh7Y5D8Or2xDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T12:51:32.493486Z"},"content_sha256":"d1556d3473efe9a2e471188499c980338c26cd3c6c9eeb31b1f197522b3f5780","schema_version":"1.0","event_id":"sha256:d1556d3473efe9a2e471188499c980338c26cd3c6c9eeb31b1f197522b3f5780"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:XXRQTRSNJZGJWDZ6WXFCFW3JBY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.OC"],"primary_cat":"cs.SY","authors_text":"Angela P. Schoellig, Mohamed K. Helwa","submitted_at":"2016-10-05T00:56:12Z","abstract_excerpt":"This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible through the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficien"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01243","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":""},"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":"2026-05-18T01:03:11Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8NLPpW4aJvcvMZ4d/poK/AWIC3O+tbdLJQOne6KiIPCOVSiRfjPZwExfT/Inr/+2LQzsOy2jBSi6CS/XVMlbAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-01T12:51:32.493840Z"},"content_sha256":"8cae9b27c52a3a31f8d5d3edd52e8b8e83c2f40867807a8fe6368351396fdc3f","schema_version":"1.0","event_id":"sha256:8cae9b27c52a3a31f8d5d3edd52e8b8e83c2f40867807a8fe6368351396fdc3f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/bundle.json","state_url":"https://pith.science/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/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":"2026-06-01T12:51:32Z","links":{"resolver":"https://pith.science/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY","bundle":"https://pith.science/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/bundle.json","state":"https://pith.science/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XXRQTRSNJZGJWDZ6WXFCFW3JBY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:XXRQTRSNJZGJWDZ6WXFCFW3JBY","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":"69e844793a2f7e9c693d3f2c0d185fbec257a0233e5bf7af7bef7c3f4e330250","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-10-05T00:56:12Z","title_canon_sha256":"929e97851da68835cd40f0b2fc84089f0b58d5a6fec070eefe11d20ea2ca058a"},"schema_version":"1.0","source":{"id":"1610.01243","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1610.01243","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"arxiv_version","alias_value":"1610.01243v1","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1610.01243","created_at":"2026-05-18T01:03:11Z"},{"alias_kind":"pith_short_12","alias_value":"XXRQTRSNJZGJ","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_16","alias_value":"XXRQTRSNJZGJWDZ6","created_at":"2026-05-18T12:30:51Z"},{"alias_kind":"pith_short_8","alias_value":"XXRQTRSN","created_at":"2026-05-18T12:30:51Z"}],"graph_snapshots":[{"event_id":"sha256:8cae9b27c52a3a31f8d5d3edd52e8b8e83c2f40867807a8fe6368351396fdc3f","target":"graph","created_at":"2026-05-18T01:03:11Z","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"},"paper":{"abstract_excerpt":"This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible through the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficien","authors_text":"Angela P. Schoellig, Mohamed K. Helwa","cross_cats":["cs.RO","math.OC"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-10-05T00:56:12Z","title":"On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1610.01243","kind":"arxiv","version":1},"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:d1556d3473efe9a2e471188499c980338c26cd3c6c9eeb31b1f197522b3f5780","target":"record","created_at":"2026-05-18T01:03:11Z","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":"69e844793a2f7e9c693d3f2c0d185fbec257a0233e5bf7af7bef7c3f4e330250","cross_cats_sorted":["cs.RO","math.OC"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2016-10-05T00:56:12Z","title_canon_sha256":"929e97851da68835cd40f0b2fc84089f0b58d5a6fec070eefe11d20ea2ca058a"},"schema_version":"1.0","source":{"id":"1610.01243","kind":"arxiv","version":1}},"canonical_sha256":"bde309c64d4e4c9b0f3eb5ca22db690e03c174eb6d8cced45306d5bb2c022b9e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bde309c64d4e4c9b0f3eb5ca22db690e03c174eb6d8cced45306d5bb2c022b9e","first_computed_at":"2026-05-18T01:03:11.336723Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:03:11.336723Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9E8X9t4tt6dB4t8cd8lzw8TjcdaTMKB8+15E+xmfKuWaRnN1/kkfFfEbKQLfFx2IgyNErET4EBssVvPzPY/JAg==","signature_status":"signed_v1","signed_at":"2026-05-18T01:03:11.337237Z","signed_message":"canonical_sha256_bytes"},"source_id":"1610.01243","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d1556d3473efe9a2e471188499c980338c26cd3c6c9eeb31b1f197522b3f5780","sha256:8cae9b27c52a3a31f8d5d3edd52e8b8e83c2f40867807a8fe6368351396fdc3f"],"state_sha256":"4be54b4b5ffb3793a5cce3be5e809b05d85ef1edc59173b7f8ff8ee5f2688c0f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ugxc9S7CEPYcq5TyGhZVDJ05sNB+h/LtrGztM1wfebiQZTudDP11AC1Tw6OpycO7FEKu51ZC84dqFTVaV6t6DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-01T12:51:32.495893Z","bundle_sha256":"5054e05abe0cbe041988969dda5942187f79905e5c92c4ef76ea68fb2b746af6"}}