mostly going to be small messages containing actions and percepts, a bluetooth connection should not decrease performance noticeably compared to a USB connection.

Some percepts may be more valuable than other but this may also be highly dependent on the problem at hand. Therefore there will not be any sorting in the information perceived, rather will it be send to the computer running *Jason* when available. However, the agents will not add the beliefs immediately to the belief base, since this does not conform with the reasoning cycle. Instead, by overriding the `perceive()` method, beliefs will only be added at the point in time where the agent is supposed to perceive.

At one step in the reasoning cycle, the agent must perform an action. In *Jason*, one can alter the behaviour of acting by overriding the method `act()`. Since an actions in this context is something performed by ${A_{\textsf{Lego}}}$, the method simply parses the term and sends the corresponding message to ${A_{\textsf{Lego}}}$, who will then perform the action immediately. Since LeJOS is a subset of Java, the terms are parsed and converted into a format that is more easily parsed by LeJOS.

Note that even though the use of bluetooth 