@inproceedings{zhang2016decision,
  title={Decision-Making Policies for Heterogeneous Autonomous Multi-Agent Systems with Safety Constraints.},
  author={Zhang, Ruohan and Yu, Yue and El Chamie, Mahmoud and A\c{c}\i kme\c{s}e, Beh\c{c}et and Ballard, Dana H},
  booktitle={IJCAI},
  pages={546--553},
  year={2016}
}

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