- Page 86, Assumption 4.21,
$i$ should be replaced with 2. - Page 54, Example (3.10), the sentence "In this case, |k| should be less than 0.5" is inaccurate. It should be "less or equal than 0.5".
- Page 44, Equation (3.11), the Ito integral there is missing a (\nabla_X \phi)^\trans. Similarly, in Equation (3.14), the Ito integral is missing.
If you spot any error/typo/inaccuracy in the thesis, please feel free to submit an Issue or drop me an email.