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We develop a formal framework for automatic reasoning about the obligationsof autonomous cyber-physical systems, including their social and ethicalobligations. Obligations, permissions and prohibitions are distinct from asystem's mission, and are a necessary part of specifying advanced, adaptiveAI-equipped systems. They need a dedicated deontic logic of obligations toformalize them. Most existing deontic logics lack corresponding algorithms andsystem models that permit automatic verification. We demonstrate how aparticular deontic logic, Dominance Act Utilitarianism (DAU), is a suitablestarting point for formalizing the obligations of autonomous systems likeself-driving cars. We demonstrate its usefulness by formalizing a subset ofResponsibility-Sensitive Safety (RSS) in DAU; RSS is an industrial proposal forhow self-driving cars should and should not behave in traffic. We show thatcertain logical consequences of RSS are undesirable, indicating a need tofurther refine the proposal. We also demonstrate how obligations can changeover time, which is necessary for long-term autonomy. We then demonstrate amodel-checking algorithm for DAU formulas on weighted transition systems, andillustrate it by model-checking obligations of a self-driving car controllerfrom the literature.

Algorithmic Ethics: Formalization and Verification of Autonomous Vehicle Obligations