diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/BaseTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/BaseTask.cs
index 94165869..385467ee 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/BaseTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/BaseTask.cs	
@@ -39,6 +39,15 @@ public void StopAsFailed()
             StopExecution();
         }
 
+        /// <summary>
+        /// Can be used to abort the task outside of its Update method
+        /// </summary>
+        public void StopAsAborted()
+        {
+            State = TaskState.Aborted;
+            StopExecution();
+        }
+
         /// <summary>
         /// Can be used to let the task succseed outside of its Update method
         /// </summary>
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentAnimationTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentAnimationTask.cs
index 037ab712..b7cf543e 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentAnimationTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentAnimationTask.cs	
@@ -140,5 +140,15 @@ public void Deserialize(SerializationDataContainer serializer)
             playTime = serializer.GetSerializedFloat("Play Time");
         }
 
+        /// <summary>
+        /// Aborts the animation task and sets its state to aborted
+        /// </summary>
+        public override void Abort()
+        {
+            Debug.Log("Abort in AnimationTask");
+            StopExecution();
+            State = TaskState.Aborted;
+        }
+
     }
 }
\ No newline at end of file
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentBaseTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentBaseTask.cs
index 556340c1..e576e521 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentBaseTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentBaseTask.cs	
@@ -1,6 +1,7 @@
 using i5.Toolkit.Core.Utilities;
 using System;
 using System.Collections.Generic;
+using UnityEngine;
 
 namespace i5.VirtualAgents.AgentTasks
 {
@@ -89,5 +90,18 @@ public void WaitFor(params AgentBaseTask[] otherTasks)
                 }
             }
         }
+
+        /// <summary>
+        /// Aborts the task and sets its state to aborted
+        /// </summary>
+        public virtual void Abort()
+        {
+            Debug.Log("Abort in BaseTask");
+            if (State == TaskState.Running)
+            {
+                StopAsAborted();
+                State = TaskState.Aborted;
+            }
+        }
     }
 }
\ No newline at end of file
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentMovementTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentMovementTask.cs
index 51c6f38b..94ce64d2 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentMovementTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentMovementTask.cs	
@@ -202,5 +202,18 @@ public void Deserialize(SerializationDataContainer serializer)
 			TargetSpeed = serializer.GetSerializedFloat("TargetSpeed");
             //FollowingGameObject = serializer.GetSerializedBool("FollowingGameObject");
 		}
+
+		/// <summary>
+		/// Aborts the movement task and sets its state to aborted
+		/// </summary>
+		public override void Abort()
+		{
+			Debug.Log("Abort in MovementTask");
+			if (navMeshAgent != null)
+			{
+				StopExecution();
+			}
+			State = TaskState.Aborted;
+		}
 	}
 }
\ No newline at end of file
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentWaitTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentWaitTask.cs
index 2514435b..028ea6dd 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentWaitTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/AgentWaitTask.cs	
@@ -14,6 +14,10 @@ public class AgentWaitTask : AgentBaseTask, ISerializable
         /// </summary>
         public float WaitTimeInSeconds { get; set; }
 
+        private Coroutine waitCoroutine;
+
+        private Agent agent;
+
         public AgentWaitTask() { }
 
         /// <summary>
@@ -32,6 +36,7 @@ public AgentWaitTask(float timeInSeconds)
         /// <param name="agent">The agent which executes this task</param>
         public override void StartExecution(Agent agent)
         {
+            this.agent = agent;
             base.StartExecution(agent);
 
             if (WaitTimeInSeconds <= 0)
@@ -47,8 +52,7 @@ public override void StartExecution(Agent agent)
                 FinishTaskAsFailed();
                 return;
             }
-
-            agent.StartCoroutine(Wait(WaitTimeInSeconds));
+            waitCoroutine = agent.StartCoroutine(Wait(WaitTimeInSeconds));
         }
 
         // wait for the given time and then finish the task
@@ -58,14 +62,28 @@ private IEnumerator Wait(float timeInSeconds)
             FinishTask();
         }
 
-        public void Serialize(SerializationDataContainer serializer)
+        public void Serialize(SerializationDataContainer serializer)
         {
             serializer.AddSerializedData("Wait time", WaitTimeInSeconds);
         }
 
-        public void Deserialize(SerializationDataContainer serializer)
+        public void Deserialize(SerializationDataContainer serializer)
         {
             WaitTimeInSeconds = serializer.GetSerializedFloat("Wait time");
         }
+
+        /// <summary>
+        /// Aborts the wait task
+        /// </summary>
+        public override void Abort()
+        {
+            Debug.Log("Abort in WaitTask");
+            if (waitCoroutine != null)
+            {
+                agent.StopCoroutine(waitCoroutine);
+                waitCoroutine = null;
+            }
+            State = TaskState.Aborted;
+        }
     }
 }
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/IAgentTask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/IAgentTask.cs
index 547e59a5..e0e6839c 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/IAgentTask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/FundamentalAgentTasks/IAgentTask.cs	
@@ -14,5 +14,10 @@ public interface IAgentTask : ITask
         /// False if there are unfulfilled conditions that block the execution
         /// </summary>
         bool CanStart { get; }
+
+        /// <summary>
+        /// Aborts the task
+        /// </summary>
+        public void Abort() {}
     }
 }
\ No newline at end of file
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ITask.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ITask.cs
index 5d682b34..f4ac798c 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/ITask.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/ITask.cs	
@@ -9,7 +9,8 @@ public enum TaskState
         Waiting, // Task created, but never executed
         Running, // Task currently running
         Failure, // Task has finished executing and failed
-        Success  // Task has finished executing and succeeded
+        Success,  // Task has finished executing and succeeded
+        Aborted // Task has been aborted
     }
 
     /// <summary>
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskManager.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskManager.cs
index 8f733ec5..545435b3 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskManager.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskManager.cs	
@@ -1,6 +1,7 @@
 using i5.Toolkit.Core.Utilities;
 using System;
 using i5.VirtualAgents.AgentTasks;
+using UnityEngine;
 
 namespace i5.VirtualAgents.ScheduleBasedExecution
 {
@@ -189,5 +190,50 @@ public IAgentTask PeekNextTask()
         {
             return queue.PeekNextTask();
         }
+
+        /// <summary>
+        /// Removes all tasks from the queue and sets the state of the task manager to idle
+        /// </summary>
+        /// <param name="clearCurrentTask">Determines whether the current task should be aborted as well</param>
+        public void Clear(bool clearCurrentTask)
+        {
+            queue.Clear();
+            if (clearCurrentTask)
+            {
+                CurrentTask.Abort();
+                CurrentTask = null;
+                CurrentState = TaskManagerState.idle;
+            }
+            // TODO add after merging with TaskBundles:
+            // lastTask = null;
+        }
+
+        /// <summary>
+        /// Removes a task from the task queue
+        /// </summary>
+        /// <param name="task">The task to be removed</param>
+        public void RemoveTask(IAgentTask task)
+        {
+            queue.RemoveTask(task);
+            if (CurrentTask == task)
+            {
+                Abort();
+            }
+        }
+
+        /// <summary>
+        /// Aborts the current task
+        /// </summary
+        public void Abort()
+        {
+            Debug.Log("Abort called in AgentTaskManager:");
+            if (CurrentTask != null)
+            {
+                CurrentTask.Abort();
+                CurrentTask = null;
+                CurrentState = TaskManagerState.idle;
+            }
+        }
+
     }
 }
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskQueue.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskQueue.cs
index 3ab94424..d6f66f67 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskQueue.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/AgentTaskQueue.cs	
@@ -76,13 +76,31 @@ public void AddTask(IAgentTask task, int priority = 0)
         }
 
         /// <summary>
-        /// Contains a task, its corresponding priority and the task bundle it belongs to if it is part of one
+        /// Contains a task and its corresponding priority
         /// </summary>
         private struct TaskEntry
         {
             public IAgentTask task;
             public int priority;
         }
+
+        /// <summary>
+        /// Removes all tasks from the queue
+        /// </summary>
+        public void Clear()
+        {
+            taskQueue.Clear();
+        }
+
+        /// <summary>
+        /// Removes a task from the task queue
+        /// </summary>
+        /// <param name="task">Task to be removed</param>
+        public void RemoveTask(IAgentTask task)
+        {
+            TaskEntry taskEntry = new TaskEntry();
+            taskQueue.Remove(taskEntry);
+        }
     }
 
 
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/ScheduleBasedTaskSystem.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/ScheduleBasedTaskSystem.cs
index bb6d0712..847a255c 100644
--- a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/ScheduleBasedTaskSystem.cs	
+++ b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/ScheduleBasedTaskSystem.cs	
@@ -50,5 +50,25 @@ public void ScheduleTask(IAgentTask task, int priority = 0, string layer = "Base
         {
             taskManagers[layer].ScheduleTask(task, priority);
         }
+
+        /// <summary>
+        /// Aborts the current task on the specified layer
+        /// </summary>
+        /// <param name="layer">Name of the layer on which the task should be aborted</param>
+        public void Abort(string layer = "Base Layer")
+        {
+            taskManagers[layer].Abort();
+        }
+
+        /// <summary>
+        /// Aborts the current tasks on all layers
+        /// </summary>
+        public void AbortAllLayers()
+        {
+            foreach (var layer in taskManagers)
+            {
+                taskManagers[layer.Key].Abort();
+            }
+        }
     }
 }