@article{el2018controlled,
  title={Controlled markov processes with safety state constraints},
  author={El Chamie, Mahmoud and Yu, Yue and A\c{c}\i kme\c{s}e, Beh\c{c}et and Ono, Masahiro},
  journal={IEEE Transactions on Automatic Control},
  volume={64},
  number={3},
  pages={1003--1018},
  year={2018},
  publisher={IEEE}
}

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