We show how Brahms provides a language, engine, and toolkit for specifying and implementing multiagent systems. We describe a model-based, distributed architecture for Mars surface operations, integrating space suits, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. “Mobile agents” running on multiple, moving platforms, interpret and transform data to help people and robotic systems coordinate their actions to make operations safe and efficient. A novel combination of agent types facilitates communications between people and system components. The methodology involves first simulating the entire system, then configuring the agents into a run-time system.