“…The design and implementation of tasks controllers of complex manufacturing systems has been addressed by using several approaches. The object oriented approach has been held for modelling [3], simulation [4][5][6], and control [7] of manufacturing systems. The agent based approach [8] has been adopted to address some problems in manufacturing systems [9]; DeLoach [10] proposes a modelling language for describing the diverse kinds of agents, and defines a methodology (MaSE) for the formal synthesis of agent systems; in [11] Bussmann focuses on decision making issues during the planning stage, and in [12] he addresses the task programming issue proposing a synthesis method that leads to concurrent centralised control software; in [13] Ouelhadj proposed a dynamic control architecture for manufacturing systems organised into cells, but the programming of the agents is not reported.…”