  In this paper, a novel process has been developed to realize high-level
complex cognitive behaviors into reactive agents, efficiently. This method
paves the way for deducting high-level reactive behaviors from low-level
perceptive information by autonomous robots. The aforementioned process lets us
actualize different generations of Braitenberg vehicles, are which able to
mimic desired behaviors to survive in complex environments with high degrees of
flexibility in perception and emergence of high-level cognitive actions. The
approach has been used to engineer a Braitenberg vehicle with a wide range of
perception-action capabilities. Verification would be realized within this
framework, due to the efficient traceability between each sequential pair of
process phases. The applied simulations demonstrate the efficiency of the
established development process, based on the Braitenberg vehicle's behavior.
