The gaps appear if a transaction uses a sequence number but is then rolled back.
Maybe the answer is not to assign the invoice number until the invoice can't be rolled back. This minimizes (but probably does not eliminate) the possibilities of gaps.
I'm not sure that there is any swift or easy way to ensure no gaps in the sequence - scanning for MAX, adding one, and inserting that is probably the closest to secure, but is not recommended for performance reasons (and difficulties with concurrency) and the technique won't detect if the latest invoice number is assigned, then deleted and reassigned.
Can you account for gaps somehow - by identifying which invoice numbers were 'used' but 'not made permanent' somehow? Could an autonomous transaction help in doing that?
Another possibility - assuming that gaps are relatively few and far between.
Create a table that records sequence numbers that must be reused before a new sequence value is grabbed. Normally, it would be empty, but some process that runs every ... minute, hour, day ... checks for gaps and inserts the missed values into this table. All processes first check the table of missed values, and if there are any present, use a value from there, going through the slow process of updating the table and removing the row that they use. If the table is empty, then grab the next sequence number.
Not very pleasant, but the decoupling of 'issuing invoice numbers' from 'scan for missed values' means that even if the invoicing process fails for some thread when it is using one of the missed values, that value will be rediscovered to be missing and re-reissued next time around - repeating until some process succeeds with it.