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We investigate the consequences and perspectives resulting from a strict concept of machine autonomy. While these kinds of systems provide computationally and economically cheaper solutions than classically designed systems, their behavior is not easy to judge and predict. Analogously to human communication, a way is needed to communicate the state of the machine to an observer. In order to achieve this, we reduce the proliferation of microscopic states to a manageable set of macroscopicdoi:10.1016/j.robot.2004.01.002 fatcat:pwsj3wv3kzccdcu3ouiek3sq2i