For stochastic difference inclusions with convex set-valued dynamics and a concave barrier, safety probabilities can be certified by checking the barrier condition at the mean disturbance.
Probabilistic reachability and safety for controlled discrete time stochastic hybrid systems
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Characterization of Safety in Stochastic Difference Inclusions using Barrier Functions
For stochastic difference inclusions with convex set-valued dynamics and a concave barrier, safety probabilities can be certified by checking the barrier condition at the mean disturbance.