The approach of self-organizing systems has increased in relevance and use within complex domains, for it allows the development of decentralized systems that exhibit a dynamic and adaptable behavior in facing the challenge of handling disturbances in the environment, which were previously unknown. The main difficulties in building self-organizing systems lie in the development of mechanisms of interaction and coordination between the agents of the environment and the lack of reuse of solutions already adopted. In this context, this dissertation proposes a framework as a reusable solution for building decentralized self-organizing systems, based on major architectural patterns found in the literature, and also provide a means of extensibility to develop new mechanisms of interaction and coordination. From the framework, instances of various fields can be created, for example, a self-organizing and decentralized solution to the automated guided vehicles problem, as will be presented in this dissertation.