sensor and two motors – the “blind agent”. The agents are placed in a very simple environment resembling a pedestrian crossing, i.e. alternating white and black bars, on which is placed an obstacle that the agents must avoid when crossing the environment. Both agents know how to avoid the obstacle, when they find it, but none of them initially know where it is.

The problem is to ensure that both agents successfully cross the path without touching the obstacle. The obstacle finder is able to detect the obstacle by using its ultrasonic sensor and can therefore fairly easily avoid it. The blind agent can only detect how many black bars it has passed. The idea is therefore to let the obstacle finder send a message containing the number of black bars to pass, before the agent must avoid the obstacle. This information can then be used by the blind agent to successfully complete the task.

This problem is easily solved using *Jason* when noted that the agents have a goal to avoid the obstacle and that they should react to changes in the environment. The implementation is found in appendix \[app:source\]. Below is shown code snippets that show how the 