@article{likmeta2020combining,
  title = {Combining reinforcement learning with rule-based controllers for transparent and general decision-making in autonomous driving},
  journal = {Robotics and Autonomous Systems (RAS)},
  issn = {0921-8890},
  volume = {131},
  pages = {103568},
  year = {2020},
  doi = {https://doi.org/10.1016/j.robot.2020.103568},
  url = {https://doi.org/10.1016/j.robot.2020.103568},
  author = {Likmeta, Amarildo and Metelli, Alberto Maria and Tirinzoni, Andrea and Giol, Riccardo and Restelli, Marcello and Romano, Danilo}
}