Replace 'autonomous machine' with 'child' and it is clear a parent is responsible. For autonomous machines these are the owners. Machines may be autonomous, but if a real person is liable, then I am sure there will be plenty of checks and tests done to prevent any disasters.
In fact, the results of the accounting scandals not so long ago may be a good template. Investors were fully dependent on this autonomous, faceless, financial machine to churn out profits. That blew up in their face and they had no-one to blame. One result was the enactment of Sarbanes-Oxley which set, amongst other things, criminal penalties on individuals.
That is good motivation: accountability.