@article{Prajna_2007,
    doi = {10.1109/tac.2007.902736},
    url = {https://doi.org/10.1109%2Ftac.2007.902736},
    year = {2007},
    month = {aug},
    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
    volume = {52},
    number = {8},
    pages = {1415--1428},
    author = {Stephen Prajna and Ali Jadbabaie and George J. Pappas},
    title = {A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates},
    journal = {{IEEE} Transactions on Automatic Control}
}

@article{Prajna_2007, doi = {10.1109/tac.2007.902736}, url = {https://doi.org/10.1109%2Ftac.2007.902736}, year = {2007}, month = {aug}, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, volume = {52}, number = {8}, pages = {1415--1428}, author = {Stephen Prajna and Ali Jadbabaie and George J. Pappas}, title = {A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates}, journal = {{IEEE} Transactions on Automatic Control} }