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In this article, we explain our rationale for the development of Luna, a software agent framework. In particular, we focus on how we use capabilities for comprehensive policy-based governance to ensure that key requirements for security, declarative specification of taskwork, and built-in support for joint activity within mixed teams of humans and agents are satisfied. KAoS, IHMC's ontology-based policy services framework, enables the semantically-rich and extensible semantics and the operational power and flexibility needed to realize these capabilities within Luna. We show how Luna is specifically designed to allow developers and users to leverage different forms of policybased governance in an endless variety of ways.