@inproceedings{,
  author={Fejlek, Jiří and Ratschan, Stefan},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)}, 
  title={Computing Funnels Using Numerical Optimization Based Falsifiers}, 
  year={2022},
  publisher={IEEE},
  pages={4318--4324},
  doi={10.1109/ICRA46639.2022.9811730}
}