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Prajna, Stephen and Jadbabaie, Ali and Pappas, George J. (2007) A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates. IEEE Transactions on Automatic Control, 52 (8). pp. 1415-1428. ISSN 0018-9286. doi:10.1109/TAC.2007.902736. https://resolver.caltech.edu/CaltechAUTHORS:PRAieeetac07

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