@article{briggs2022and,
  title={Why and how robots should say ‘no’},
  author={Briggs, Gordon and Williams, Tom and Jackson, Ryan Blake and Scheutz, Matthias},
  journal={International Journal of Social Robotics},
  volume={14},
  number={2},
  pages={323--339},
  year={2022},
  publisher={Springer}
}