give some information regarding the motors, it may be possible to use this to generate a world model. In [@Shatkay+1997] odometry is used to create such map, and it could be very useful to implement such feature in *Jason* and Lego Mindstorms.

By sharing such map between all agents in the environment, it would be possible for the agents to find and assist each other pursuing their goals.

#### Sensors

The system is currently able to handle the four standard types of sensors: Touch, light, sound and ultrasonic sensor. The LeJOS JVM includes support for many other types of sensors, including the sensors from the first version of Lego Mindstorms. As a future addition, it could be relevant to add support for these sensors as well.

#### Actions

An action is something performed by ${A_{\textsf{Lego}}}$. This means that whenever a term in the implementation is not a *Jason* primitive or an internal action, it will be regarded as an action, and therefore be parsed and sent to the Lego agent.

Section \[sec:legomindstormsnxt\] describes the actions that the system is able to perform. The LeJOS JVM gives a few more possibilities, that could be supported by *Jason* as well, by implementing 