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Norms are effective and flexible means to control and regulate the behaviour of autonomous systems. Adding norms to a system changes its specification which may in turn ensure desirable system properties. As of yet, there is no generally agreed formal methodology to represent and reason about the dynamics of norms and their impacts on system specifications. In this paper, we introduce various types of norms, such as state-based or action-based norms, and gradually develop a dynamic modal logic to characterize the dynamics of such norms in a formal way. The logic can be used to prove various properties of norm dynamics and their impacts on system specification. Moreover, we show that this logic is sound and complete.
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