@article{prismefficientandlocallyoptimalprobabili,
  title = {PRISM: Efficient and Locally Optimal Probabilistic Planning with Reachability Guarantees},
  author = {Alex Rose and Christopher Jewison and Jonathan P. How},
  year = {2026},
  eprint = {2606.26413},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.26413},
}