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The Jadex BDI applications package contain several example applications, benchmarks and testcases using BDI agents.

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package jadex.bdi.examples.cleanerworld_classic.cleaner;

import jadex.bdi.examples.cleanerworld_classic.Chargingstation;
import jadex.bdi.examples.cleanerworld_classic.Cleaner;
import jadex.bdi.examples.cleanerworld_classic.Location;
import jadex.bdi.examples.cleanerworld_classic.Vision;
import jadex.bdi.examples.cleanerworld_classic.Waste;
import jadex.bdi.examples.cleanerworld_classic.Wastebin;
import jadex.bdi.runtime.IBeliefSet;
import jadex.bdi.runtime.IGoal;
import jadex.bdi.runtime.Plan;
import jadex.commons.SUtil;

import java.util.List;

/**
 *  Move to a point.
 */
public class MoveToLocationPlan extends Plan
{
	//-------- constructors --------

	/**
	 *  Create a new plan.
	 */
	public MoveToLocationPlan()
	{
//		getLogger().info("Created: "+this);
	}

	//-------- methods --------

	/**
	 *  The plan body.
	 */
	public void body()
	{
		//long	time	= getRootGoal().getExecutionTime();
		Location target = (Location)getParameter("location").getValue();
		Location myloc = (Location)getBeliefbase().getBelief("my_location").getFact();
		while(!myloc.isNear(target))
		{
			//pause(atm);
			// calculate the new position offset.
			//long	newtime	= getTime();
			double speed = ((Double)getBeliefbase().getBelief("my_speed").getFact()).doubleValue();
			double d = myloc.getDistance(target);
			double r = speed*0.00004*100;//(newtime-time);
			double dx = target.getX()-myloc.getX();
			double dy = target.getY()-myloc.getY();
			//time	= newtime;

			// When radius greater than distance, just move a step.
			double rx = r