{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T23:43:36Z","timestamp":1771026216773,"version":"3.50.1"},"publisher-location":"Cham","reference-count":36,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783030514167","type":"print"},{"value":"9783030514174","type":"electronic"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"DOI":"10.1007\/978-3-030-51417-4_8","type":"book-chapter","created":{"date-parts":[[2020,7,10]],"date-time":"2020-07-10T10:03:46Z","timestamp":1594375426000},"page":"152-172","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["The \u201cWhy Did You Do That?\u201d Button: Answering Why-Questions for End Users of Robotic Systems"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3147-0262","authenticated-orcid":false,"given":"Vincent J.","family":"Koeman","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1426-1896","authenticated-orcid":false,"given":"Louise A.","family":"Dennis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matt","family":"Webster","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0875-3862","authenticated-orcid":false,"given":"Michael","family":"Fisher","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5707-5236","authenticated-orcid":false,"given":"Koen","family":"Hindriks","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,7,11]]},"reference":[{"key":"8_CR1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-71956-4","volume-title":"Programming Multi-agent Systems in AgentSpeak Using Jason","author":"RH Bordini","year":"2007","unstructured":"Bordini, R.H., H\u00fcbner, J.F., Wooldridge, M.: Programming Multi-agent Systems in AgentSpeak Using Jason. Wiley, Hoboken (2007)"},{"key":"8_CR2","doi-asserted-by":"publisher","DOI":"10.1007\/b137449","volume-title":"Multi-Agent Programming: Languages, Platforms and Applications","year":"2005","unstructured":"Bordini, R.H., Dastani, M., Dix, J., El Fallah-Seghrouchni, A. (eds.): Multi-Agent Programming: Languages, Platforms and Applications. Springer, Heidelberg (2005). \nhttps:\/\/doi.org\/10.1007\/b137449"},{"key":"8_CR3","volume-title":"Intentions, Plans, and Practical Reason","author":"ME Bratman","year":"1987","unstructured":"Bratman, M.E.: Intentions, Plans, and Practical Reason. Harvard University Press, Cambridge (1987)"},{"key":"8_CR4","doi-asserted-by":"crossref","unstructured":"Bremner, P., Dennis, L.A., Fisher, M., Winfiled, A.F.: On proactive, transparent and verifiable ethical reasoning for robots. In: Proceedings of the IEEE special issue on Machine Ethics: The Design and Governance of Ethical AI and Autonomous Systems (2019, to appear)","DOI":"10.1109\/JPROC.2019.2898267"},{"key":"8_CR5","unstructured":"Charisi, V., et al.: Towards moral autonomous systems. CoRR abs\/1703.04741 (2017). \nhttp:\/\/arxiv.org\/abs\/1703.04741"},{"key":"8_CR6","doi-asserted-by":"crossref","unstructured":"Dastani, M., van Riemsdijk, M.B., Meyer, J.J.C.: Programming multi-agent systems in 3APL. In: [2], chap. 2, pp. 39\u201367","DOI":"10.1007\/0-387-26350-0_2"},{"key":"8_CR7","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10515-011-0088-x","volume":"19","author":"L Dennis","year":"2011","unstructured":"Dennis, L., Fisher, M., Webster, M., Bordini, R.: Model checking agent programming languages. Autom. Softw. Eng. 19, 1\u201359 (2011). \nhttps:\/\/doi.org\/10.1007\/s10515-011-0088-x","journal-title":"Autom. Softw. Eng."},{"key":"8_CR8","unstructured":"Dennis, L.A.: Gwendolen semantics: 2017. Technical report ULCS-17-001, University of Liverpool, Department of Computer Science (2017)"},{"issue":"24","key":"8_CR9","doi-asserted-by":"publisher","first-page":"617","DOI":"10.21105\/joss.00617","volume":"3","author":"LA Dennis","year":"2018","unstructured":"Dennis, L.A.: The MCAPL framework including the agent infrastructure layer and agent java pathfinder. J. Open Source Softw. 3(24), 617 (2018)","journal-title":"J. Open Source Softw."},{"key":"8_CR10","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1007\/978-3-540-79043-3_8","volume-title":"Programming Multi-Agent Systems","author":"LA Dennis","year":"2008","unstructured":"Dennis, L.A., Farwer, B., Bordini, R.H., Fisher, M., Wooldridge, M.: A common semantic basis for BDI languages. In: Dastani, M., El Fallah Seghrouchni, A., Ricci, A., Winikoff, M. (eds.) ProMAS 2007. LNCS (LNAI), vol. 4908, pp. 124\u2013139. Springer, Heidelberg (2008). \nhttps:\/\/doi.org\/10.1007\/978-3-540-79043-3_8"},{"key":"8_CR11","doi-asserted-by":"crossref","unstructured":"Dinmohammadi, F., et al.: Certification of safe and trusted robotic inspection of assets. In: 2018 Prognostics and System Health Management Conference (PHM-Chongqing), pp. 276\u2013284, October 2018","DOI":"10.1109\/PHM-Chongqing.2018.00054"},{"key":"8_CR12","doi-asserted-by":"crossref","unstructured":"Fisher, M., et al.: Verifiable self-certifying autonomous systems. In: 2018 IEEE International Symposium on Software Reliability Engineering Workshops (ISSREW), pp. 341\u2013348, October 2018","DOI":"10.1109\/ISSREW.2018.00028"},{"key":"8_CR13","unstructured":"Harbers, M.: Explaining agent behaviour in virtual training. Ph.D. thesis, SIKS Dissertation Series (2011). no. 2011\u201335"},{"key":"8_CR14","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/978-0-387-89299-3_4","volume-title":"Multi-Agent Programming","author":"KV Hindriks","year":"2009","unstructured":"Hindriks, K.V.: Programming rational agents in GOAL. In: El Fallah Seghrouchni, A., Dix, J., Dastani, M., Bordini, R.H. (eds.) Multi-Agent Programming, pp. 119\u2013157. Springer, Boston (2009). \nhttps:\/\/doi.org\/10.1007\/978-0-387-89299-3_4"},{"key":"8_CR15","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1007\/978-3-642-32729-2_3","volume-title":"PRIMA 2012: Principles and Practice of Multi-Agent Systems","author":"KV Hindriks","year":"2012","unstructured":"Hindriks, K.V.: Debugging is explaining. In: Rahwan, I., Wobcke, W., Sen, S., Sugawara, T. (eds.) PRIMA 2012. LNCS (LNAI), vol. 7455, pp. 31\u201345. Springer, Heidelberg (2012). \nhttps:\/\/doi.org\/10.1007\/978-3-642-32729-2_3"},{"issue":"2","key":"8_CR16","doi-asserted-by":"publisher","first-page":"4:1","DOI":"10.1145\/1824760.1824761","volume":"20","author":"AJ Ko","year":"2010","unstructured":"Ko, A.J., Myers, B.A.: Extracting and answering why and why not questions about Java program output. ACM Trans. Softw. Eng. Methodol. 20(2), 4:1\u20134:36 (2010)","journal-title":"ACM Trans. Softw. Eng. Methodol."},{"key":"8_CR17","doi-asserted-by":"crossref","unstructured":"Koeman, V.J., Hindriks, K.V., Jonker, C.M.: Omniscient debugging for cognitive agent programs. In: Proceedings of the 26th International Joint Conference on Artificial Intelligence, IJCAI 2017, pp. 265\u2013272. AAAI Press (2017)","DOI":"10.24963\/ijcai.2017\/38"},{"key":"8_CR18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.artint.2018.07.007","volume":"267","author":"T Miller","year":"2017","unstructured":"Miller, T.: Explanation in artificial intelligence: insights from the social sciences. Artif. Intell. 267, 1\u201338 (2017)","journal-title":"Artif. Intell."},{"key":"8_CR19","doi-asserted-by":"crossref","unstructured":"Pokahr, A., Braubach, L., Lamersdorf, W.: Jadex: a BDI reasoning engine. In: [2], pp. 149\u2013174","DOI":"10.1007\/0-387-26350-0_6"},{"key":"8_CR20","unstructured":"Rao, A.S., Georgeff, M.P.: Modeling agents within a BDI-architecture. In: Proceedings of 2nd International Conference on Principles of Knowledge Representation and Reasoning (KR&R), pp. 473\u2013484. Morgan Kaufmann (1991)"},{"key":"8_CR21","unstructured":"Rao, A.S., Georgeff, M.P.: An abstract architecture for rational agents. In: Proceedings of International Conference on Knowledge Representation and Reasoning (KR&R), pp. 439\u2013449. Morgan Kaufmann (1992)"},{"key":"8_CR22","unstructured":"Rao, A.S., Georgeff, M.P.: BDI agents: from theory to practice. In: Proceedings of 1st International Conference on Multi-Agent Systems (ICMAS), San Francisco, USA, pp. 312\u2013319 (1995)"},{"key":"8_CR23","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1007\/BFb0031845","volume-title":"Agents Breaking Away","author":"AS Rao","year":"1996","unstructured":"Rao, A.S.: AgentSpeak(L): BDI agents speak out in a logical computable language. In: Van de Velde, W., Perram, J.W. (eds.) MAAMAW 1996. LNCS, vol. 1038, pp. 42\u201355. Springer, Heidelberg (1996). \nhttps:\/\/doi.org\/10.1007\/BFb0031845"},{"key":"8_CR24","unstructured":"Sheh, R.K.: \u201cWhy did you do that?\u201d Explainable intelligent robots. In: AAAI-17 Workshop on Human-Aware Artificial Intelligence (2017)"},{"key":"8_CR25","unstructured":"The IEEE global initiative on ethics of autonomous and intelligent systems: ethically aligned design: a vision for prioritizing human well-being with autonomous and intelligent systems. version 2. Report. IEEE (2017)"},{"key":"8_CR26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-96235-1","volume-title":"Robot Rules: Regulating Artificial Intelligence","author":"J Turner","year":"2019","unstructured":"Turner, J.: Robot Rules: Regulating Artificial Intelligence. Palgrave Macmillan, London (2019)"},{"key":"8_CR27","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"228","DOI":"10.1007\/978-3-642-24270-0_17","volume-title":"Computer Safety, Reliability, and Security","author":"M Webster","year":"2011","unstructured":"Webster, M., Fisher, M., Cameron, N., Jump, M.: Formal methods for the certification of autonomous unmanned aircraft systems. In: Flammini, F., Bologna, S., Vittorini, V. (eds.) SAFECOMP 2011. LNCS, vol. 6894, pp. 228\u2013242. Springer, Heidelberg (2011). \nhttps:\/\/doi.org\/10.1007\/978-3-642-24270-0_17"},{"key":"8_CR28","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1007\/978-3-642-38700-5_4","volume-title":"Programming Multi-Agent Systems","author":"C Wei","year":"2013","unstructured":"Wei, C., Hindriks, K.V.: An agent-based cognitive robot architecture. In: Dastani, M., H\u00fcbner, J.F., Logan, B. (eds.) ProMAS 2012. LNCS (LNAI), vol. 7837, pp. 54\u201371. Springer, Heidelberg (2013). \nhttps:\/\/doi.org\/10.1007\/978-3-642-38700-5_4"},{"key":"8_CR29","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1613\/jair.4458","volume":"51","author":"M Winikoff","year":"2015","unstructured":"Winikoff, M., Cranefield, S.: On the testability of BDI agent systems. J. Artif. Intell. Res. 51, 71\u2013131 (2015)","journal-title":"J. Artif. Intell. Res."},{"issue":"1094","key":"8_CR30","doi-asserted-by":"publisher","first-page":"1094","DOI":"10.1007\/s10458-016-9356-2","volume":"31","author":"M Winikoff","year":"2017","unstructured":"Winikoff, M.: BDI agent testability revisited. Auton. Agents Multi-agent Syst. 31(1094), 1094\u20131132 (2017). \nhttps:\/\/doi.org\/10.1007\/s10458-016-9356-2","journal-title":"Auton. Agents Multi-agent Syst."},{"key":"8_CR31","unstructured":"Winikoff, M.: Debugging agent programs with Why? questions. In: Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems, AAMAS 2017, pp. 251\u2013259. International Foundation for Autonomous Agents and Multiagent Systems, Richland (2017)"},{"key":"8_CR32","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"publisher","first-page":"521","DOI":"10.1007\/978-3-319-99229-7_47","volume-title":"Computer Safety, Reliability, and Security","author":"M Winikoff","year":"2018","unstructured":"Winikoff, M., Dignum, V., Dignum, F.: Why bad coffee? Explaining agent plans with valuings. In: Gallina, B., Skavhaug, A., Schoitsch, E., Bitsch, F. (eds.) SAFECOMP 2018. LNCS, vol. 11094, pp. 521\u2013534. Springer, Cham (2018). \nhttps:\/\/doi.org\/10.1007\/978-3-319-99229-7_47"},{"key":"8_CR33","volume-title":"An Introduction to Multiagent Systems","author":"M Wooldridge","year":"2002","unstructured":"Wooldridge, M.: An Introduction to Multiagent Systems. Wiley, Hoboken (2002)"},{"key":"8_CR34","series-title":"Applied Logic Series","volume-title":"Foundations of Rational Agency","year":"1999","unstructured":"Wooldridge, M., Rao, A. (eds.): Foundations of Rational Agency. Applied Logic Series. Kluwer Academic Publishers, Berlin (1999)"},{"issue":"3","key":"8_CR35","doi-asserted-by":"publisher","first-page":"24200247","DOI":"10.1080\/09540091.2017.1313816","volume":"29","author":"RH Wortham","year":"2017","unstructured":"Wortham, R.H., Theodorou, A.: Robot transparency, trust and utility. Connect. Sci. 29(3), 24200247 (2017)","journal-title":"Connect. Sci."},{"key":"8_CR36","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1007\/978-3-642-38700-5_3","volume-title":"Programming Multi-Agent Systems","author":"P Ziafati","year":"2013","unstructured":"Ziafati, P., Dastani, M., Meyer, J.-J., van der Torre, L.: Agent programming languages requirements for programming autonomous robots. In: Dastani, M., H\u00fcbner, J.F., Logan, B. (eds.) ProMAS 2012. LNCS (LNAI), vol. 7837, pp. 35\u201353. Springer, Heidelberg (2013). \nhttps:\/\/doi.org\/10.1007\/978-3-642-38700-5_3"}],"container-title":["Lecture Notes in Computer Science","Engineering Multi-Agent Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-51417-4_8","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,10]],"date-time":"2020-07-10T10:26:10Z","timestamp":1594376770000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-51417-4_8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030514167","9783030514174"],"references-count":36,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-51417-4_8","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"11 July 2020","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"EMAS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Workshop on Engineering Multi-Agent Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Montreal, QC","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Canada","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13 May 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"14 May 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"emas2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/cgi.csc.liv.ac.uk\/~lad\/emas2019\/index.html","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Single-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"easychair","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"20","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"13","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"0","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"65% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"2","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"1","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}