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FOOPS is a concurrent object oriented specification language with an executable subset. In this thesis we propose an extension of FOOPS with features for specifying systems of distributed and autonomous objects. This extension supports most features of concurrent object oriented programming, including classes of objects with associated methods and attributes, object identity, dynamic object creation and deletion, overloading, polymorphism, inheritance with overriding, dynamic binding, concurrency, nondeterminism, atomic execution, evaluation of method expressions as background processes, and object protection. The main contribution of this thesis is to develop a framework for supporting formal development of software in the extension of FOOPS mentioned above. In particular, we introduce a structural operational semantics for FOOPS, a notion of refinement for concurrent object oriented programs, congruence properties of refinement of FOOPS programs, and tools for mechanising refinement proofs. The operational semantics is the core of the formal definition of FOOPS. It is used to define notions of refinement for FOOPS states, programs, and specifications. Those notions and associated proof techniques for proving refinement are used to illustrate stepwise formal development of programs in FOOPS. The congruence properties of refinement (with respect to some of FOOPS operators) justify compositional development of software in FOOPS. The tools help to validate the framework introduced in this thesis and motivate its use in practice.