@article{asafetymodulatoractorcriticmethodin,
  title = {A Safety Modulator Actor-Critic Method in Model-Free Safe Reinforcement Learning and Application in UAV Hovering},
  author = {Qihan Qi and Xinsong Yang and Gang Xia and Daniel W. C. Ho and Pengyang Tang},
  year = {2024},
  eprint = {2410.06847},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2410.06847v1},
}