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This paper takes stock of all the various factors that cause the design-time opacity of autonomous systems behaviour. The factors include embodiment effects, design-time knowledge gap, human factors, emergent behaviour and tacit knowledge. This situation is contrasted with the usual representation of moral dilemmas that assume perfect information. Since perfect information is not achievable, the traditional moral dilemma representations are not valid and the whole problem of ethical autonomous systems design proves to be way more empirical than previously understood.

The epistemic opacity of autonomous systems and the ethical consequences