@article{boundingstochasticsafetyleveraging,
  title = {Bounding Stochastic Safety: Leveraging Freedman's Inequality with Discrete-Time Control Barrier Functions},
  author = {Ryan K. Cosner and Preston Culbertson and Aaron D. Ames},
  year = {2024},
  eprint = {2403.05745},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2403.05745v5},
}