Jones S, Studley M, Hauert S and Winfield AFT (2018) A Two Teraflop Swarm. Front. Robot. AI 5:11. doi: 10.3389/frobt.2018.00011

Blum C, Winfield AFT and Hafner VV (2018) Simulation-Based Internal Models for Safer Robots. Front. Robot. AI 4:74. doi: 10.3389/frobt.2017.00074

Winfield AFT and Hafner VV (2018) Anticipation in robotics. In: Poli, R., ed. (2018) Handbook of Anticipation: Theoretical and Applied Aspects of the Use of Future in Decision Making. Cham: Springer.

Vanderelst D and Winfield AFT (2018), The dark side of ethical robots, AAAI/ACM Conference on Artificial Intelligence, Ethics and Society 2018.

Louise A. Dennis. The MCAPL Framework including the Agent Infrastructure Layer and Agent Java Pathfinder. Journal of Open Source Software, 3(24), 617, 2018. DOI: 10.31105/joss.00617

Louise Dennis and Michael Fisher. Practical Challenges in Explicit Ethical Machine Reasoning. International Symposium on Artificial Intelligence and Mathematics, Fort Lauderdale, FL. January 3–5, 2018. Also available from ArXiv pre-prints 1801.01422, 2018.

Virginia Dignum, Matteo Baldoni, Cristina Baroglio, Maurizio Caon, Raja Chatila, Louise Dennis, Gonzalo Génova, Malte Kließ, Maite Lopez-Sanchez, Juan Pavón, Marija Slavkovik, Matthijs Smakman, Marlies van Steenbergen, Stefano Tedeschi, Leon van der Torre, Serena Villata, Tristan de Wildt, Galit Haim. Ethics by Design: necessity or curse? AAAI/ACM Conference on Artificial Intelligence, Ethics and Society 2018 (to appear).

Edvard P. Bjørgen, Simen Madsen, Therese S. Bjørknes, Fredrik V. Heimsæter, Robin Håvik, Morten Linderud, Per-Niklas Longberg, Louise A. Dennis and Marija Slavkovik. Cake, death, and trolleys: dilemmas as benchmarks of ethical decision-making. AAAI/ACM Conference on Artificial Intelligence, Ethics and Society 2018 (to appear).

Qu, H, Smyrnakis M, Veres S M. (2017). SMCL – Stochastic Model Checker for Learning in Games. IEEE Transaction on Cybernetics, arXiv:1611.07420 , pp. 1-31, 2017, submitted to a journal.

McAree, O., Aitken, J.M. and Veres, S.M. (2017) Towards artificial situation awareness by autonomous vehicles. In: IFAC-PapersOnLine. World Congress of the International Federation of Automatic Control (IFAC), 09/07/2017 – 14/07/2017, Toulouse, France. Elsevier .

Winfield, A. and Jirotka, M. (2017) The case for an ethical black box. In: Gao, Y., et al eds. (2017) Towards Autonomous Robot Systems, LNAI Vol 10454, pp 262-273. Download PDF

Vanderelst, D. and Winfield, A. (2017) An architecture for ethical robots inspired by the simulation theory of cognition. Cognitive Systems Research. ISSN 1389-0417

Vanderelst, D. and Winfield, A. (2017) Rational imitation for robots: The cost difference model. Adaptive Behavior, 25 (2). pp. 60-71. ISSN 1059-7123 Download DPF

Lucas Fernandes, Vinicius Custodio, Gleifer Alves and Michael Fisher. A Rational Agent Controlling an Autonomous Vehicle: Implementation and Formal Verification. In Lukas Bulwahn, Maryam Kamali and Sven Linker (eds), Proc. First Workshop on Formal Verification of Autonomous Vehicles (FVAV 2017). Electronic Proceedings in Theoretical Computer Science 257(35-42), 2017.

Louise Dennis, Elisa Cucco and Michael Fisher. A General Architecture for Flexible Autonomous Systems. Workshop on Architectures for Generality and Autonomy (AGA 2017), 2017.

Elisa Cucco, Michael Fisher, Louise Dennis, Clare Dixon, Matt Webster, Bastian Broecker, Richard Williams, Joe Collenette, Katie Atkinson and Karl Tuyls. Towards Robots for Social Engagement. Workshop on Human-Robot Engagement in the Home, Workplace and Public Spaces (WHRE 2017), 2017.

Maryam Kamali, Louise A. Dennis, Owen McAree, Michael Fisher and Sandor M. Veres. Formal verification of autonomous vehicle platooning. Science of Computer Programming, 2017. DOI: 10.1016/j.scico.2017.05.006. Pre-print available at ArXiv pre-prints 1602.01718, 2016.

Vicky Charisi, Louise Dennis, Michael Fisher, Robert Lieck, Andreas Matthias, Marija Slavkovik, Janina Sombetzki, Alan F. T. Winfield, Roman Yampolskiy. Towards Autonomous Moral Systems. ArXiv e-prints, 1703.04741, 2017.

Louise A. Dennis. Gwendolen Semantics: 2017. University of Liverpool, Computer Science, Technical Report ULCS-17-001.

McAree O, Veres S, (2016). Lateral control of vehicle platoons with on-board sensing and inter-vehicle communication. In: 2016 European Control Conference (ECC). 2016 European Control Conference (ECC), 29 June-1 July 2016, Aalborg, Denmark. IEEE . ISBN 978-1-5090-2591-6.

Veres S, McAree O, Aitken J, (2016). Towards formal verification of small and micro UAS. Proceedings of European Control Conference, 29 June-1 July 2016, Aalborg, Denmark. IEEE . ISBN 978-1-5090-2591-6.

Hoffmann R, Ireland M, Miller A, Norman G, Veres S. (2016). Autonomous Agent Behaviour Modelled in PRISM A Case Study. Model Checking Software. (pp. 104-110). SPIN 2016. Lecture Notes in Computer Science, vol. 9641. Springer. DOI:

Ireland, M, Hoffman R, Miller a, Norman G, Veres S M. (2016). A Continuous-Time Model of an Autonomous Aerial Vehicle to Inform and Validate Formal Verification Methods. Working paper. 2016/9/1 arXiv preprint arXiv:1609.00177.

Hazim, M, Qu H, Veres S M. (2016). Testing, Verification and Improvements of Timeliness in ROS processes. Proceedings of TAROS 2016: Towards Autonomous Robotic Systems pp 146-157.

Smyrnakis, M, Aitken J, Veres S M. (2016). Collision Avoidance of Two Autonomous Quadcopters. Working paper. arXiv:1603.05490.

Paolo Izzo, Hongyang Qu and Sandor M. Veres. A stochastically verifiable autonomous control architecture with reasoning.In Proc. IEEE Conference on Decision and Control (CDC’16). 2016.

Smyrnakis M, Bauso D, Trodden P, Veres S, (2016). Learning of cooperative behaviour in robot populations. Proceedings of European Control Conference, 29 June-1 July 2016, Aalborg, Denmark.

Qu H, Veres S. (2016). Verification of logical consistency in robotic reasoning. Robotics and Autonomous Systems, Volume 83 Issue C, pp. 44-56.

O McAree, JM Aitken, SM Veres. A model based design framework for safety verification of a semi-autonomous inspection drone. Control (CONTROL), 2016 UKACC 11th International Conference on, DOI: 10.1109/CONTROL.2016.7737551

Vanderelst, D. and Winfield, A. (2016) The dark side of ethical robots, arXiv:1606.02583v1.

M Fisher, C List, M Slavkovik, A Winfield. Engineering Moral Agents – from Human Morality to Artificial Morality. Dagstuhl Reports 6(5), 2016.

Louise A. Dennis, Marija Slavkovik and Michael Fisher. “How Did They Know?” – Model-Checking for Analysis of Information Leakage in Social Networks. Coordination, Organizations, Institutions and Norms at the European Conference on Artificial Intelligence 2016. Download from University of Liverpool

Louise A. Dennis, Jonathan M. Aitken, Joe Collenette, Elisa Cucco, Maryam Kamali, Owen McAree, Affan Shaukat, Katie Atkinson, Yang Gao, Sandor Veres, and Michael Fisher. Agent-based Autonomous Systems and Abstraction Engines: Theory meets Practice. Towards Autonomous Robotic Systems, 17th Annual Conference (TAROS 2016), 2016. Springer LNCS 9716, pages 75-86. Download from University of Liverpool

Smyrnakis M, Qu H, Veres S, (2015). A Verification Framework for Fictitious Play Based Learning Algorithms. USES Conf. Proc. 01 (2014); doi: 10.15445/01012014.25

Louise A. Dennis, Michael Fisher, Marija Slavkovik, and Matt Webster. Formal Verification of Ethical Choices in Autonomous Systems Robotics and Autonomous Systems. DOI:10.1016/j.robot.2015.11.012.

M. Birna van Riemsdijk, Louise A. Dennis, Michael Fisher, Koen V. Hindriks.
A Semantic Framework for Socially Adaptive Agents: Towards strong norm compliance. AAMAS 2015: 423-432. Download from University of Liverpool.

Dennis LA, Fisher M and Winfield AFT (2015), Towards Verifiably Ethical Robot Behaviour, Proceedings of the 1st International Workshop on AI and Ethics, Austin, Texas, 2015. Download from University of Liverpool.


Winfield AFT, Blum C and Liu W (2014), Towards an Ethical Robot: Internal Models, Consequences and Ethical Action Selection, pp 85-96 in Advances in Autonomous Robotics Systems, Lecture Notes in Computer Science Volume 8717, Eds. Mistry M, Leonardis A, Witkowski M and Melhuish C, Springer, 2014. Download final draft (pdf).