diff --git a/configuration/packages/collision_monitor/configuring-collision-detector-node.rst b/configuration/packages/collision_monitor/configuring-collision-detector-node.rst
index 75c6b559aa..f1690ff2d6 100644
--- a/configuration/packages/collision_monitor/configuring-collision-detector-node.rst
+++ b/configuration/packages/collision_monitor/configuring-collision-detector-node.rst
@@ -182,6 +182,31 @@ Polygons parameters
   Description:
     Minimum number of data readings within a zone to trigger the action. Former ``max_points`` parameter for Humble, that meant the maximum number of data readings within a zone to not trigger the action). ``min_points`` is equal to ``max_points + 1`` value.
 
+:``<polygon_name>``.trigger_consecutive_points:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  int            1
+  ============== =============================
+
+  Description:
+    Number of consecutive processing cycles with ``points_inside >= min_points`` required to enter the triggered state.
+    A value of ``1`` means trigger in a single processing cycle.
+
+:``<polygon_name>``.release_consecutive_points:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  int            1
+  ============== =============================
+
+  Description:
+    Number of consecutive processing cycles with ``points_inside < min_points`` required to leave the triggered state.
+    A value of ``1`` means release in a single processing cycle.
+    In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.
+
 :``<polygon_name>``.visualize:
 
   ============== =============================
diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
index 52aa5786eb..3209a97d24 100644
--- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
+++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst
@@ -322,6 +322,31 @@ Polygons parameters
   Description:
     Minimum number of data readings within a zone to trigger the action. Former ``max_points`` parameter for Humble, that meant the maximum number of data readings within a zone to not trigger the action). ``min_points`` is equal to ``max_points + 1`` value.
 
+:``<polygon_name>``.trigger_consecutive_points:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  int            1
+  ============== =============================
+
+  Description:
+    Number of consecutive processing cycles with ``points_inside >= min_points`` required to enter the triggered state.
+    A value of ``1`` means trigger in a single processing cycle.
+
+:``<polygon_name>``.release_consecutive_points:
+
+  ============== =============================
+  Type           Default
+  -------------- -----------------------------
+  int            1
+  ============== =============================
+
+  Description:
+    Number of consecutive processing cycles with ``points_inside < min_points`` required to leave the triggered state.
+    A value of ``1`` means release in a single processing cycle.
+    In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.
+
 :``<polygon_name>``.slowdown_ratio:
 
   ============== =============================
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
index ea397f1d7e..91bc07af8f 100644
--- a/migration/Kilted.rst
+++ b/migration/Kilted.rst
@@ -844,3 +844,19 @@ In `PR 5991 <https://github.com/ros-navigation/navigation2/pull/5991>`_, the fol
 - `IsPoseOccupied` is now `CheckPoseOccupancy`
 
 This change was made because these behavior tree nodes may return RUNNING or require more time to complete, making them unsuitable for behavior tree that are expected to be ticked at 100 Hz.
+
+Collision Monitor debounce parameters
+-------------------------------------
+
+`PR #6006 <https://github.com/ros-navigation/navigation2/pull/6006>`_ adds temporal debounce controls for polygon trigger behavior in Collision Monitor and Collision Detector:
+
+- ``<polygon_name>.trigger_consecutive_points``
+- ``<polygon_name>.release_consecutive_points``
+
+A value of ``1/1`` preserves single-cycle trigger/release behavior.
+In practice, values greater than ``1`` can reduce sensor noise flicker while remaining responsive.
+
+See:
+
+- :ref:`configuring_collision_monitor_node`
+- :ref:`configuring_collision_detector_node`