1. A multi-modular system for object and behavior recognition, the system comprising one or more processors and a memory having instructions such that when the instructions are executed, the one or more processors perform operations of: operating a plurality of software agents configured to operate as a cooperative swarm to classify an object in a domain with an object recognition module; representing a spatial organization of the object in the domain using a graphical model with a graph-based object representation module; storing a set of known object behaviors to allow the system to recognize the set of known object behaviors with a knowledge sub-module of a reasoning and recognition engine module; learning both the set of known object behaviors from the knowledge sub-module and a set of novel object behaviors with a behavior recognition sub-module of the reasoning and recognition engine module, immediately from the graph-based object representation module; proposing the set of learned novel object behaviors from the behavior recognition sub-module back to the knowledge sub-module as a set of new behaviors derived from online learning; and outputting a behavior classification for the object, wherein the behavior classification for the object is classified as a known object behavior or as a novel object behavior based on comparison to a predetermined threshold value.