• Don't do things that you can't undo : reversibility models for generating safe behavioursKruusmaa, Maarja; Gavšin, Juri; Eppendahl, A.Proceedings of the 2007 IEEE International Conference in Robotics and Automation : ICRA'07 : Rome, Italy, 10-14 April 20072007 / p. 1134-1139 https://ieeexplore.ieee.org/document/4209241