1. A method of programming an entity in an environment with a rule set specified according to a rule-based programming language comprising at least one language condition, at least one language verb, and at least one language verb parameter, the method comprising: receiving at least one rule comprising at least zero language conditions representing an action condition, at least one language verb representing an action, and at least zero language verb parameters representing an action object, and programming the entity to perform the rules having satisfied action conditions within the environment.