{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,5]],"date-time":"2025-12-05T14:36:35Z","timestamp":1764945395430,"version":"3.46.0"},"reference-count":40,"publisher":"Association for Computing Machinery (ACM)","issue":"1","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Emerg. Technol. Comput. Syst."],"published-print":{"date-parts":[[2026,1,31]]},"abstract":"<jats:p>The Robotic Operating System (ROS) provides resources that facilitate the development of robots. However, these resources do not provide robots with some features required in complex scenarios, such as goal-oriented behaviour, autonomy, deliberative capabilities, social abilities and proactivity combined with reactivity. On the other hand, these features are inherent to Belief-Desire-Intention (BDI) agents, whose behaviour results from reasoning over explicit representations of their beliefs (information about the environment), desires (goals to be achieved) and intentions (commitments to those goals). This work addresses the integration between ROS and BDI agents. This integration is addressed both at a conceptual level, where ROS and BDI concepts are aligned, and in a more practical level, where programming tools are presented to program the behaviour of ROS-based robots as BDI agents. The proposal is evaluated through application examples. The results of this work include an integration model and tools to develop these robots.<\/jats:p>","DOI":"10.1145\/3765618","type":"journal-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T13:17:50Z","timestamp":1756819070000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["ROS-BDI Robots: An Agent-Based Approach for Programming the Behaviour of Autonomous Robots"],"prefix":"10.1145","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4650-7416","authenticated-orcid":false,"given":"Maiquel","family":"de Brito","sequence":"first","affiliation":[{"name":"Federal University of Santa Catarina, Blumenau, Brazil"}]}],"member":"320","published-online":{"date-parts":[[2025,12,5]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1007\/11568346_19","volume-title":"Perspectives in Conceptual Modeling","author":"Agerri Rodrigo","year":"2005","unstructured":"Rodrigo Agerri and Eduardo Alonso. 2005. Normative pragmatics for agent communication languages. In Perspectives in Conceptual Modeling. Jacky Akoka, Stephen W. Liddle, Il-Yeol Song, Michela Bertolotto, Isabelle Comyn-Wattiau, Willem-Jan van den Heuvel, Manuel Kolp, Juan Trujillo, Christian Kop, and Heinrich C. Mayr (Eds.), Springer, Berlin, 172\u2013181."},{"doi-asserted-by":"publisher","key":"e_1_3_2_3_2","DOI":"10.1016\/j.nahs.2019.05.007"},{"key":"e_1_3_2_4_2","first-page":"1","volume-title":"Proceedings of the 20th Workshop \u201cFrom Objects to Agents\u201dCEUR Workshop Proceedings","author":"Alzetta Francesco","year":"2019","unstructured":"Francesco Alzetta and Paolo Giorgini. 2019. Towards a real-time BDI model for ROS 2. In Proceedings of the 20th Workshop \u201cFrom Objects to Agents\u201d. Federico Bergenti and Stefania Monica (Eds.), CEUR Workshop Proceedings, Vol. 2404, CEUR-WS.org, 1\u20137."},{"doi-asserted-by":"publisher","key":"e_1_3_2_5_2","DOI":"10.1007\/s10458-020-09453-y"},{"doi-asserted-by":"publisher","key":"e_1_3_2_6_2","DOI":"10.5555\/1197104"},{"key":"e_1_3_2_7_2","volume-title":"Knowledge Representation and Reasoning","author":"Brachman Ronald","year":"2004","unstructured":"Ronald Brachman and Hector Levesque. 2004. Knowledge Representation and Reasoning. Morgan Kaufmann Publishers Inc., San Francisco, CA."},{"key":"e_1_3_2_8_2","volume-title":"Intention, Plans, and Practical Reason","author":"Bratman M.","year":"1999","unstructured":"M. Bratman. 1999. Intention, Plans, and Practical Reason. Center for the Study of Language and Information."},{"doi-asserted-by":"publisher","key":"e_1_3_2_9_2","DOI":"10.1111\/j.1467-8640.1988.tb00284.x"},{"doi-asserted-by":"publisher","key":"e_1_3_2_10_2","DOI":"10.1007\/978-3-030-66412-1_13"},{"doi-asserted-by":"publisher","key":"e_1_3_2_11_2","DOI":"10.1016\/0004-3702(90)90055-5"},{"doi-asserted-by":"publisher","key":"e_1_3_2_12_2","DOI":"10.1007\/978-3-319-29363-9_28"},{"doi-asserted-by":"publisher","key":"e_1_3_2_13_2","DOI":"10.1016\/j.future.2019.06.031"},{"key":"e_1_3_2_14_2","first-page":"16","volume-title":"Proceedings of the AISB 2008 Symposium on Logic and the Simulation of Interaction and Reasoning, Society for the Study of Artificial Intelligence and Simulation of Behaviour","author":"Dennis Louise A.","year":"2008","unstructured":"Louise A. Dennis and Berndt Farwer. 2008. Gwendolen: A BDI language for verifiable agents. In Proceedings of the AISB 2008 Symposium on Logic and the Simulation of Interaction and Reasoning, Society for the Study of Artificial Intelligence and Simulation of Behaviour, 16\u201323."},{"doi-asserted-by":"publisher","key":"e_1_3_2_15_2","DOI":"10.1109\/DATE.2012.6176494"},{"key":"e_1_3_2_16_2","volume-title":"Plattform Industrie 4.0: Aspects of the Research Roadmap in Application Scenarios","author":"Federal Ministry for Economic Affairs and Energy (BMWi) Public Relations Berlin Germany","year":"2014","unstructured":"Federal Ministry for Economic Affairs and Energy (BMWi) Public Relations Berlin Germany. 2014. Plattform Industrie 4.0: Aspects of the Research Roadmap in Application Scenarios. Technical Report. Federal Ministry for Economic Affairs and Energy (BMWi). Public Relations, Berlin, Germany."},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","first-page":"392","DOI":"10.1007\/978-3-540-45091-7_28","volume-title":"Conceptual Structures for Knowledge Creation and Communication","author":"Harper Lois W.","year":"2003","unstructured":"Lois W. Harper and Harry S. Delugach. 2003. Using conceptual graphs to capture semantics of agent communication. In Conceptual Structures for Knowledge Creation and Communication. Bernhard Ganter, Aldo de Moor, and Wilfried Lex (Eds.), Springer, Berlin, 392\u2013404."},{"doi-asserted-by":"publisher","key":"e_1_3_2_18_2","DOI":"10.1109\/MIE.2019.2962225"},{"doi-asserted-by":"publisher","key":"e_1_3_2_19_2","DOI":"10.5555\/3131501"},{"doi-asserted-by":"publisher","key":"e_1_3_2_20_2","DOI":"10.1023\/A:1018934223383"},{"doi-asserted-by":"publisher","key":"e_1_3_2_21_2","DOI":"10.1109\/JPROC.2016.2521731"},{"doi-asserted-by":"publisher","key":"e_1_3_2_22_2","DOI":"10.1016\/j.compind.2015.08.004"},{"doi-asserted-by":"publisher","key":"e_1_3_2_23_2","DOI":"10.1007\/978-3-031-18192-4_9"},{"doi-asserted-by":"publisher","key":"e_1_3_2_24_2","DOI":"10.3233\/978-1-61499-050-5-119"},{"doi-asserted-by":"publisher","key":"e_1_3_2_25_2","DOI":"10.3390\/jsan9040056"},{"key":"e_1_3_2_26_2","first-page":"255","volume-title":"Towards Autonomous Robotic Systems","author":"Polydoros Athanasios S.","year":"2016","unstructured":"Athanasios S. Polydoros, Bjarne Gro\u00dfmann, Francesco Rovida, Lazaros Nalpantidis, and Volker Kr\u00fcger. 2016. Accurate and versatile automation of industrial kitting operations with SkiROS. In Towards Autonomous Robotic Systems. Lyuba Alboul, Dana Damian, and Jonathan M. Aitken (Eds.), Springer International Publishing, Cham, 255\u2013268."},{"key":"e_1_3_2_27_2","volume-title":"Workshops at the IEEE International Conference on Robotics and Automation (Japan)","author":"Quigley Morgan","year":"2009","unstructured":"Morgan Quigley, Ken Conley, Brian P. Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y. Ng. 2009. ROS: An open-source robot operating system. In Workshops at the IEEE International Conference on Robotics and Automation (Japan)."},{"doi-asserted-by":"publisher","key":"e_1_3_2_28_2","DOI":"10.1007\/BFb0031845"},{"key":"e_1_3_2_29_2","first-page":"473","volume-title":"Proceedings of the 2nd International Conference on Principles of Knowledge Representation and Reasoning (KR \u201991)","author":"Rao Anand S.","year":"1991","unstructured":"Anand S. Rao and Michael P. Georgeff. 1991. Modeling rational agents within a BDI-architecture. In Proceedings of the 2nd International Conference on Principles of Knowledge Representation and Reasoning (KR \u201991). Morgan Kaufmann Publishers Inc., San Francisco, CA, 473\u2013484."},{"key":"e_1_3_2_30_2","first-page":"312","volume-title":"Proceedings of the 1st International Conference on Multiagent Systems","author":"Rao Anand S.","year":"1995","unstructured":"Anand S. Rao and Michael P. Georgeff. 1995. BDI agents: From theory to practice. In Proceedings of the 1st International Conference on Multiagent Systems. Victor R. Lesser and Les Gasser (Eds.). The MIT Press, 312\u2013319."},{"doi-asserted-by":"publisher","key":"e_1_3_2_31_2","DOI":"10.1201\/b19290"},{"key":"e_1_3_2_32_2","volume-title":"Artificial Intelligence: A Modern Approach","author":"Russell Stuart","year":"2010","unstructured":"Stuart Russell and Peter Norvig. 2010. Artificial Intelligence: A Modern Approach (3rd ed.). Prentice Hall.","edition":"3"},{"doi-asserted-by":"publisher","key":"e_1_3_2_33_2","DOI":"10.1016\/j.swevo.2020.100762"},{"doi-asserted-by":"publisher","key":"e_1_3_2_34_2","DOI":"10.1016\/j.ifacol.2020.12.2718"},{"doi-asserted-by":"publisher","key":"e_1_3_2_35_2","DOI":"10.1109\/ICGCIoT.2015.7380718"},{"doi-asserted-by":"publisher","key":"e_1_3_2_36_2","DOI":"10.1017\/CBO9781107110649"},{"doi-asserted-by":"publisher","key":"e_1_3_2_37_2","DOI":"10.1109\/3ict64318.2024.10824668"},{"doi-asserted-by":"publisher","key":"e_1_3_2_38_2","DOI":"10.1109\/SDS.2018.8370433"},{"doi-asserted-by":"publisher","key":"e_1_3_2_39_2","DOI":"10.1109\/MIE.2017.2649104"},{"key":"e_1_3_2_40_2","volume-title":"An Introduction to Multiagent Systems","author":"Wooldridge Michael","year":"1997","unstructured":"Michael Wooldridge. 1997. An Introduction to Multiagent Systems. Oxford University Press, New York."},{"doi-asserted-by":"publisher","key":"e_1_3_2_41_2","DOI":"10.1017\/S0269888900008122"}],"container-title":["ACM Journal on Emerging Technologies in Computing Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3765618","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,5]],"date-time":"2025-12-05T14:33:05Z","timestamp":1764945185000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3765618"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,5]]},"references-count":40,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,1,31]]}},"alternative-id":["10.1145\/3765618"],"URL":"https:\/\/doi.org\/10.1145\/3765618","relation":{},"ISSN":["1550-4832","1550-4840"],"issn-type":[{"type":"print","value":"1550-4832"},{"type":"electronic","value":"1550-4840"}],"subject":[],"published":{"date-parts":[[2025,12,5]]},"assertion":[{"value":"2024-04-17","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-22","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-12-05","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}