@article{liabilityethicsandcultureawarebehavior,
  title = {Liability, Ethics, and Culture-Aware Behavior Specification using Rulebooks},
  author = {Andrea Censi and Konstantin Slutsky and Tichakorn Wongpiromsarn and Dmitry Yershov and Scott Pendleton and James Fu and Emilio Frazzoli},
  year = {2019},
  eprint = {1902.09355},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1902.09355v2},
}