BESA-ME is a software middleware designed to make easier and to improve the construction of robotic control systems based on multi-agent techniques. BESA is a behavior-oriented, event-driven and social-based general purpose architecture designed to build concurrent applications using the multiagent paradigm. The BESA abstract model incorporates the concept of behavior and the management of asynchronous events, which are very useful in the construction of robotic systems, thus it allows to design robot control
