Alessandro Abate Maria Prandini John Lygeros Shankar Sastry Probabilistic reachability and safety for controlled discrete time stochastic hybrid systems. 2724-2734 2008 44 Automatica 11 http://dx.doi.org/10.1016/j.automatica.2008.03.027 db/journals/automatica/automatica44.html#AbatePLS08