Embedded real-time systems play an important role in various application areas like plant automation, product automation or car electronics. In recent years a considerable growth in the functionality has been observed. At the same time, expectations on systems’ flexibility at runtime are growing steadily. The paradigm of agentoriented software engineering is a well suited approach for the development of decentralised, complex software systems with high flexibility. A number of software engineering methodologies have been introduced for developing agent oriented systems. However, none of the existing methodologies is intended for the development of embedded real-time systems. This work presents an extension to the Multi-agent Systems Engineering (MaSE) methodology that tackles domain-specific weaknesses and defines a systematic procedure for the development of agent-oriented embedded real-time systems.