Craig Knuth Glen Chou Jamie Reese Joseph L. Moore Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems. 12700-12706 2023 ICRA https://doi.org/10.1109/ICRA48891.2023.10161001 conf/icra/2023 db/conf/icra/icra2023.html#KnuthCRM23