@inproceedings{ijcai2016p84,
  title     = {Decision-Making Policies for Heterogeneous Autonomous Multi-Agent Systems with Safety Constraints},
  author    = {Zhang, Ruohan and Yu, Yue and Chamie, Mahmoud El and Açikmese, Behçet and Ballard, Dana H.},
  booktitle = {Proceedings of the Twenty-Fifth International Joint Conference on
               Artificial Intelligence, {IJCAI-16}},
  publisher = {AAAI Press / International Joint Conferences on Artificial Intelligence},
  editor    = {Subbarao Kambhampati},
  pages     = {546--552},
  year      = {2016},
  month     = {7},
  url       = {https://ijcai.org/proceedings/2016/84},
}