With our proposed decomposition into layers, a generic framework leading to the reuse of previously produced software and the extraction of useful portions can be achieved. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. Formalization introduces rigor into the discussion of the structure of embodied agent controllers. The paper deals with systems consisting of multiple agents executing jobs by: influencing the environment through effectors, gathering information from the environment through sensors and communicating with the other agents through communication channels. A paradigm shift is proposed: from building systems executing jobs, to agents acquiring resources (effectors and receptors) so that they can execute the jobs assigned to them. A supervisory controller coordinates the adequate sequencing of jobs and resolves contentions.