Development of Components of Multi-agent CASE-System for Describing the Logic of Behavior of Mobile Robots

In the article there are substantiation of architectural and technical solutions, with the basis of the universal CASE-tool for describing ("programming") the behavior of mobile robots. The development tool intended for carrying out experiments in the field of artificial intelligence and it is based on multi-agent technology. In addition, the toolkit will be the maximum possible reuse of elements (tasks, processes, etc.). The basis for the development is the idea of combining, within the framework of one tool, both the real execution of the algorithm by the robot, and its simulation. It allows talking about testing partially implemented hardware (sensors and actuators). Development is carried out based on open source technology; all texts of programs are available at web source: https://github.com/unclesal/tenguai.