Lu, Songtao, Kaiqing Zhang, Tianyi Chen, Tamer Başar, and Lior Horesh. “Decentralized Policy Gradient Descent Ascent for Safe Multi-Agent Reinforcement Learning”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 10 (May 18, 2021): 8767-8775. Accessed May 12, 2024. https://ojs.aaai.org/index.php/AAAI/article/view/17062.