@INPROCEEDINGS{Hans-ESANN-2008,
  author = {Hans, Alexander and Schneegass, Daniel and Schaefer, Anton and Udluft,
    {\relax St}effen},
  title = {Safe Exploration for Reinforcement Learning},
  booktitle = {Europ. Symp. on Artificial Neural Networks, Advance in Computational
    Intelligence and Learning (ESANN)},
  year = {2008},
  pages = {143--148},
  publisher = {d-side publishing}
}