@article{valuealignmentaformalapproach,
  title = {Value alignment: a formal approach},
  author = {Carles Sierra and Nardine Osman and Pablo Noriega and Jordi Sabater-Mir and Antoni Perelló},
  year = {2021},
  eprint = {2110.09240},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.09240v1},
}