diff --git a/Gemfile b/Gemfile
index 90fb16f9..516d2cce 100644
--- a/Gemfile
+++ b/Gemfile
@@ -9,6 +9,7 @@ gem "github-pages", "~> 232", group: :jekyll_plugins
 # If you have any plugins, put them here!
 group :jekyll_plugins do
   gem "jekyll-feed", "~> 0.12"
+  gem 'jekyll-commonmark-ghpages', "~> 0.5.1"
 end
 
 # Windows and JRuby does not include zoneinfo files, so bundle the tzinfo-data gem
diff --git a/README.md b/README.md
index 90a85b5a..73fcdd57 100644
--- a/README.md
+++ b/README.md
@@ -303,6 +303,8 @@ Nick Le Large 
 
 If you use arbitration graphs in your research, we would be pleased if you cite our work:
 
+*Piotr Spieker, Nick Le Large, and Martin Lauer, “Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making,” Nov. 15, 2024, arXiv: arXiv:2411.10170. doi: [10.48550/arXiv.2411.10170](https://doi.org/10.48550/arXiv.2411.10170).*
+
 ```bibtex
 @misc{spieker2024ArbitrationGraphs,
   title={Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making}, 
@@ -315,7 +317,37 @@ If you use arbitration graphs in your research, we would be pleased if you cite
   doi = {10.48550/arXiv.2411.10170},
   url={https://arxiv.org/abs/2411.10170}, 
 }
+```
+
+
+<details>
+<summary>Earlier publications</summary>
 
+### Behavior Verification and Fallback Layers
+A safety concept that extends Arbitration Graphs with behavior verification and fallback layers in the context of automated driving has been proposed by Piotr Spieker (née Orzechowski) in his PhD thesis.
+This served as the basis for the paper with Nick above.
+
+_Piotr F. Orzechowski, “Verhaltensentscheidung für automatisierte Fahrzeuge mittels Arbitrationsgraphen,” phd, Karlsruher Institut für Technologie (KIT), 2023. doi: [10.5445/IR/1000160638](https://doi.org/10.5445/IR/1000160638)._
+
+```bibtex
+@thesis{Orzechowski2023Arbitrationsgraphen,
+  type = {phdthesis},
+  title = {Verhaltensentscheidung für automatisierte Fahrzeuge mittels Arbitrationsgraphen},
+  author = {Orzechowski, Piotr Franciszek},
+  date = {2023},
+  institution = {Karlsruher Institut für Technologie (KIT)},
+  doi = {10.5445/IR/1000160638},
+  langid = {german},
+  pagetotal = {169},
+}
+```
+
+### Replacing state machines in AV
+Arbitration Graphs replaced state machines in the context of automated driving at the Institute of Measurement and Control Systems (MRT) of the Karlsruhe Institute of Technology (KIT):
+
+_Piotr F. Orzechowski, Christoph Burger, and Martin Lauer, “Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme,” in Intelligent Vehicles Symposium, Las Vegas, NV, USA: IEEE, Oct. 2020, pp. 767–774. doi: [10.1109/IV47402.2020.9304723](https://doi.org/10.1109/IV47402.2020.9304723)._
+
+```bibtex
 @inproceedings{orzechowski2020ArbitrationGraphs,
   title = {Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme},
   booktitle = {Intelligent Vehicles Symposium},
@@ -327,7 +359,14 @@ If you use arbitration graphs in your research, we would be pleased if you cite
   issn = {2642-7214},
   doi = {10.1109/IV47402.2020.9304723},
 }
+```
 
+### Foundation work in Robot Soccer
+The foundations for Arbitration Graphs have been proposed in the context of robot soccer:
+
+_Martin Lauer, Roland Hafner, Sascha Lange, and Martin Riedmiller, “Cognitive concepts in autonomous soccer playing robots,” Cognitive Systems Research, vol. 11, no. 3, pp. 287–309, 2010, doi: [10.1016/j.cogsys.2009.12.003](https://doi.org/10.1016/j.cogsys.2009.12.003)._
+
+```bibtex
 @article{lauer2010CognitiveConceptsAutonomous,
   title = {Cognitive Concepts in Autonomous Soccer Playing Robots},
   author = {Lauer, Martin and Hafner, Roland and Lange, Sascha and Riedmiller, Martin},
@@ -339,3 +378,5 @@ If you use arbitration graphs in your research, we would be pleased if you cite
   doi = {10.1016/j.cogsys.2009.12.003},
 }
 ```
+
+</details>
\ No newline at end of file
diff --git a/_config.yml b/_config.yml
index e843765d..100338af 100644
--- a/_config.yml
+++ b/_config.yml
@@ -18,6 +18,14 @@ sass:
   sass_dir: docs/assets/_sass
 
 
+# Support collapsible details/summary sections
+markdown: CommonMarkGhPages
+
+commonmark:
+  options: ["UNSAFE", "SMART", "FOOTNOTES"]
+  extensions: ["strikethrough", "autolink", "table", "tagfilter"]
+
+
 # Tell Jekyll to use README.md and docs/ only.
 #
 # For some reason exluding root and then including only these does not work,
diff --git a/docs/assets/css/style.scss b/docs/assets/css/style.scss
index be46846a..b5e8a4b7 100644
--- a/docs/assets/css/style.scss
+++ b/docs/assets/css/style.scss
@@ -14,6 +14,19 @@
 // Add table of contents navbar
 @import 'toc';
 
+// Switch to light theme logo
 img.github-logo {
   content: url({{ "/docs/assets/img/github-mark.svg" | relative_url }});
-}
\ No newline at end of file
+}
+
+// Improve collapsible sections
+details summary {
+  cursor: pointer;
+  display: list-item;
+  counter-increment: list-item 0;
+  list-style: disclosure-closed inside;
+}
+
+details[open] summary {
+  list-style-type: disclosure-open;
+}