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An autonomous system is constructed by a manufacturer, operates in a society subject to norms and laws, and interacts with end users. All of these actors are stakeholders affected by the behavior of the autonomous system. We address the challenge of how the ethical views of such stakeholders can be integrated in the behavior of an autonomous system. We propose an ethical recommendation component called Jiminy which uses techniques from normative systems and formal argumentation to reach moral agreements among stakeholders. A Jiminy represents the ethical views of each stakeholder by using normative systems, and has three ways of resolving moral dilemmas that involve the opinions of the stakeholders. First, the Jiminy considers how the arguments of the stakeholders relate to one another, which may already resolve the dilemma. Secondly, the Jiminy combines the normative systems of the stakeholders such that the combined expertise of the stakeholders may resolve the dilemma. Thirdly, and only if these two other methods have failed, the Jiminy uses context-sensitive rules to decide which of the stakeholders take preference over the others. At the abstract level, these three methods are characterized by adding arguments, adding attacks between arguments, and revising attacks between arguments. We show how a Jiminy can be used not only for ethical reasoning and collaborative decision-making, but also to provide explanations about ethical behavior.