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The ubiquitous computing frameworks aim to build new applications to provide assistive services for people in autonomously way. Therefore, ubiquitous computing frameworks must integrate both heterogeneous and dynamic devices and interoperate with other heterogeneous applications. These frameworks must adapt their behaviors to provide services that match current user activity. This paper presents a context-aware ubiquitous approach based on lightweight coupling between multi-agent system and OSGi framework. A prototype of this framework is developed and simulated using USARSim robot simulator.