succeeded or is impossible. It should also be noted that the plan is reconsidered often, to ensure that it is still sound.

To adapt the control loop for real world agents in general, we must look at what parts of the control loop these agents use to interact with the environment. Generally, an agent will be able to perceive the environment and to execute actions. How it perceives and act depends on the sensors and actuators, but generally speaking, this is what a real world agent is able to do.

In order to let Lego agents execute *Jason* plans, the parts of the control loop concerning perceiving the environment and executing plans must be extended. In the general control loop, this means that lines 4, 11 and 13 should be extended. All other lines refers to computations regarding the believes, desires, intentions and plans, all of which are common for agents in general, and it seems reasonable to let these computations happen within *Jason*.

Communication {#sec:jason_checkingmail}
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Being a framework for Multi-Agent Systems, *Jason* naturally allows agents to communicate by sending messages to one another. The Lego agents should also be able to send messages to one another. There are 