the actions in the parser. However, the big issue is that the robot only has one type of actuator, the standard NXT motor. By adding support for other actuators, such as motors with less precision but with more power, new possibilities could become available.

Conclusion
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The main goal of this project has been to implement an extension for the *Jason* multi-agent system that allows one to write applications executed by Lego robots. This would enable the programmer to write multi-agent systems in a logic programming language and even execute these applications on a real robot.

I have examined the *Jason* reasoning cycle to realize how to communicate with a robot in terms of sending actions and receiving percepts. This has resulted in an implementation, which does not alter *Jason*, but only adds functionality to allow communication with Lego robots.

The extension to *Jason* is functional, and enables Lego robots to perform actions sent from *Jason*. Furthermore, it was shown that the agent is able to react to the environment by using sensors. It must be noted that while the case studies showed that the agents can perform tasks, they cannot do this fast, since delay must be taken into 