Currently, distributed cyber-physical systems (CPS) rely upon embedded real-time systems, which can guarantee compliance with time constraints. CPS are increasingly required to act and interact with one another in dynamic environments. In the last decades, the Belief-Desire-Intention (BDI) architecture has proven to be ideal for developing agents with flexible behavior. However, current BDI models can only reason about time and not in time. This lack prevents BDI agents from being adopted in designing CPS, and particularly in safety-critical applications. This paper proposes a revision of the BDI model by integrating real-time mechanisms into the reasoning cycle of the agent. By doing so, the BDI agent can make decisions and execute plans ensuring compliance with strict timing constraints also in dynamic environments, where unpredictable events may occur.