A long and lasting problem in agent research has been to close the gap between agent logics and agent programming frameworks. The main reason for this problem of establishing a link between agent logics and agent programming frameworks is identified and explained by the fact that agent programming frameworks have hardly incorporated the concept of a declarative goal. Instead, such frameworks have focused mainly on plans or goals-to-do instead of the end goals to be realised which are also called goals-to-be. In this paper, the programming language GOAL is introduced which incorporates such declarative goals. The notion of a commitment strategy-one of the main theoretical insights due to agent logics, which explains the relation between beliefs and goals-is used to construct a computational semantics for GOAL. Finally, a proof theory for proving properties of GOAL agents is introduced. Thus, the main contribution of this paper, rather than the language GOAL itself, is that we offer a complete theory of agent programming in the sense that our theory provides both for a programming framework and a programming logic for such agents. An example program is proven correct by using this programming logic.

Expressive behaviour is a vital aspect of human interaction. A model for adaptive emotion expression was developed for the Nao robot. The robot has an internal arousal and valence value, which are influenced by the emotional state of its interaction partner and emotional occurrences such as winning a game. It expresses these emotions through its voice, posture, whole body poses, eye colour and gestures. An experiment with 18 children (mean age 9) and two Nao robots was conducted to study the influence of adaptive emotion expression on the interaction behaviour and opinions of children. In a within-subjects design the children played a quiz with both an affective robot using the model for adaptive emotion expression and a non-affective robot without this model. The affective robot reacted to the emotions of the child using the implementation of the model, the emotions of the child were interpreted by a Wizard of Oz. The dependent variables, namely the behaviour and opinions of the children, were measured through video analysis and questionnaires. The results show that children react more expressively and more positively to a robot which adaptively expresses itself than to a robot which does not. The feedback of the children in the questionnaires further suggests that showing emotion through movement is considered a very positive trait for a robot. From their positive reactions we can conclude that children enjoy interacting with a robot which adaptively expresses itself through emotion and gesture more than with a robot which does not do this.

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In this paper we focus on explaining to humans the behavior of autonomous agents, i.e., explainable agents. Explainable agents are useful for many reasons including scenario-based training (e.g. disaster training), tutor and pedagogical systems, agent development and debugging, gaming, and interactive storytelling. As the aim is to generate for humans plausible and insightful explanations, user evaluation of different explanations is essential. In this paper we test the hypothesis that different explanation types are needed to explain different types of actions. We present three different, generically applicable, algorithms that automatically generate different types of explanations for actions of BDIbased agents. Quantitative analysis of a user experiment (n=30), in which users rated the usefulness and naturalness of each explanation type for different agent actions, supports our hypothesis. In addition, we present feedback from the users about how they would explain the actions themselves. Finally, we hypothesize guidelines relevant for the development of explainable BDI agents.

A survey is given of work performed by the authors in recent years concerning the semantics of imperative concurrency. Four sample languages are presented for which a number of operational and denotational semantic models are developed. All languages have parallel execution through interleaving, and the last three have as well a form of synchronization. Three languages are uniform, i.e., they have uninterpreted elementary actions; the fourth is nonuniform and has assignment, tests and value-passing communication. The operational models build on Hennessy-Plotkin transition systems; as denotational structures both metric spaces and cpo domains are employed. Two forms of nondeterminacy are distinguished, viz. the local and global variety. As associated model-theoretic distinction that of linear time versus branching time is investigated. In the former we use streams, i.e. finite or infinite sequences of actions; in the latter the (metrically based) notion of process is introduced. We furthermore study a model with only finite observations. Ready sets also appear, used as technical tool to compare various semantics. Altogether, ten models tor the four languages are described, and precise statements on (the majority of) their interrelationships are made . The paper supplies no proofs; for these references to technical papers by the authors are provided.Contents: