A predicate-erosion framework using contraction-based probabilistic reachable tubes turns chance-constrained STL planning for stochastic nonlinear systems into deterministic trajectory optimization that achieves high-probability specification satisfaction.
A contraction theory approach to stochastic incremental stability,
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Feedback Motion Planning for Stochastic Nonlinear Systems with Signal Temporal Logic Specifications
A predicate-erosion framework using contraction-based probabilistic reachable tubes turns chance-constrained STL planning for stochastic nonlinear systems into deterministic trajectory optimization that achieves high-probability specification satisfaction.