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Agents based on reactive planning architectures use pre-specified plans as behaviour specifications. Normative agents are motivated by norms in their behaviour: obligations motivate them to act, prohibitions motivate them to refrain from certain actions, and permissions (or privileges) and capabilities specify the range of possible actions for such an agent. An important issue for normative agents is: under what circumstances is it appropriate for an agent to adopt a new set of obligations,doi:10.1145/860575.860784 dblp:conf/atal/KollingbaumN03 fatcat:niatfqtuxndmpjcbjrrmev3it4