@article{JMLR:v16:garcia15a,
  author  = {Javier García and Fernando Fernández},
  title   = {A Comprehensive Survey on Safe Reinforcement Learning},
  journal = {Journal of Machine Learning Research},
  year    = {2015},
  volume  = {16},
  number  = {42},
  pages   = {1437--1480},
  url     = {http://jmlr.org/papers/v16/garcia15a.html}
}