Building a system that reacts to the environment and at the same time accomplishes its task is not easy. BBSs offer an easier and more reliable way at tackling a task by breaking it into behaviors. This project proposes a platform that allows behaviors to act in the environment in a way that is fairer to slow behaviors. The key idea is to use priorities and lifetimes together with a voting system that fuses output from behaviors into one output for each effector. The idea was tested in a simulation of a boat navigating a canal, tracking buoys and docking. Results show that the system is able to use several active behaviors and react appropriately to the situations that presented.