should not decrease communication noticeably, overall slight delays may occur when an action should be performed. First percepts are received and parsed, then the plan is revised and a new intention may be chosen. This may result in choosing a new plan, in which an action must be performed. This action is then parsed and sent to the robot, who performs it.

#### *A* $\leftrightarrow$ *B*

Naturally, the agents in the system must be able to communicate with each other. The question is whether the agents should communicate directly using bluetooth, or using the *Jason* internal actions used for sending messages to one another.

As discussed in section \[sec:jason\_checkingmail\] there are obvious advantages of using the *Jason* internal actions for communication instead of letting the agents communicate directly. One is that the functionality is already implemented and that by representing each Lego agent as a *Jason* agent, this functionality is readily available. Another advantage is seen when comparing the two alternatives in the case where one agent sends a percept to another agent. Since percepts are used in the *Jason* reasoning cycle to decide upon an intention and find a plan, percepts sent from agent $A$ to agent $B$ will 