We present a navigation system using multiple sensors for unknown and dynamic indoor environments. To achieve the robustness and flexibility of the mobile robot, we develop a Behavior-Based system architecture, consisting of multi-layered behaviors using multiple sensors: ultrasonic sensors and a video camera. Basic behaviors required for navigation, such as, avoiding obstacles, moving towards free space, and following targets, are redundantly developed as agents and combined in a

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... system architecture. We demonstrate the capabilities of our system in unstructured real office environments, using an indoor mobile robot developed by Toshiba.