Drift and variant functions provide necessary and sufficient certificates for almost sure reachability in continuous-time SDEs, with SOS-based computation for polynomial systems.
Clark, Control barrier functions for stochastic systems, Automatica 130 (2021) 109688
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Almost Sure Reachability in Continuous-time Stochastic Systems
Drift and variant functions provide necessary and sufficient certificates for almost sure reachability in continuous-time SDEs, with SOS-based computation for polynomial systems.