  Social norms characterize collective and acceptable group conducts in human
society. Furthermore, some social norms emerge from interactions of agents or
humans. To achieve agent autonomy and make norm satisfaction explainable, we
include emotions into the normative reasoning process, which evaluates whether
to comply or violate a norm. Specifically, before selecting an action to
execute, an agent observes the environment and infers the state and
consequences with its internal states after norm satisfaction or violation of a
social norm. Both norm satisfaction and violation provoke further emotions, and
the subsequent emotions affect norm enforcement. This paper investigates how
modeling emotions affect the emergence and robustness of social norms via
social simulation experiments. We find that an ability in agents to consider
emotional responses to the outcomes of norm satisfaction and violation (1)
promotes norm compliance; and (2) improves societal welfare.
