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ABSTRACT: . A mobile robot operating in a real world environment requires the ability to cope with uncertain, incomplete, and approximate information in real time. In this paper, a new architecture for controlling a mobile robot which takes abstracts goals into consideration is described. Schema theory is used to specify the primitive behaviours of the robot and these behaviours are combined by a fuzzy-logic controller . Simulation results are presented which demonstrate the feasibility of the approach. Key Words. Mobile robots, fuzzy-logic control, schema theory INTRODUCTION There are many approaches to the control of mobile robots which interact with a dynamic, uncertain environment. Brooks  discusses the problems of applying traditional AI techniques to mobile robot control and instead proposes a physically-grounded, reactive subsumption architecture for the intelligent control of mobile robots. This view is challenged in , where the authors state that although a Brooksian behaviour ge...