This paper discusses a multi-agent coordination and control system design, inspired by the behaviour of social insects. This design makes desirable overall system behaviour emerge without exposing individual agents to the complexity and the dynamics of the overall system. This enables these individual agents to survive changes without maintenance, it allows individual agents to be re-usable across systems, and it allows having the emergent behaviour handle disturbances. The paper starts with the biological concept, stigmergy, that constitutes the basis of the coordination and control system. Next, it discusses the different steps in the development of a coordination and control system.