I. Introduction
Reliance on complex, safety-critical systems is increasing, which has made safety verification of such systems of utmost importance. For example, environments populated by both humans and autonomous systems (e.g. fulfillment centers, autonomous vehicles, and healthcare) require rigorous safety verification to ensure desired behavior is achieved. From a practical standpoint, safety verification can translate directly to ensuring qualitative guidelines such as collision avoidance are maintained. Safety-critical systems are often analyzed in a purely deterministic framework, however, many real-world applications are subject to stochastic disturbances and are better modeled as stochastic systems.