@article{safeexplicablerobotplanning,
  title = {Safe Explicable Planning},
  author = {Akkamahadevi Hanni and Andrew Boateng and Yu Zhang},
  year = {2023},
  eprint = {2304.03773},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.03773v4},
}