@inproceedings{devlin2014potential,
  title={Potential-based difference rewards for multiagent reinforcement learning},
  author={Devlin, Sam and Yliniemi, Logan and Kudenko, Daniel and Tumer, Kagan},
  booktitle={Proceedings of the 2014 international conference on Autonomous agents and multi-agent systems},
  pages={165--172},
  year={2014},
  organization={International Foundation for Autonomous Agents and Multiagent Systems}
}