Design patterns have been recently concerned in the multi-agent community for the design of systems with decentralized coordination. In this paper we present a design pattern for dealing with the complexity of developing a decentralized coordination multi-agent system for controlling a single robot. In our pattern, we combine different intelligences: an individual intelligence that enables agents to achieve their own goals, and a social intelligence that makes agents understand and manage with other agents in the community. The design pattern facilitates the implementation of modular-based agents inside the multi-agent architecture and its use helps developers when incorporating new agents in the architecture. The multi-agent architecture is used to control a Pioneer 2DX mobile robot.