  In the real world, robots with embodiment face various issues such as dynamic
continuous changes of the environment and input/output disturbances. The key to
solving these issues can be found in daily life; people `do actions associated
with sensing' and `dynamically change their plans when necessary'. We propose
the use of a new concept, enabling robots to do these two things, for
autonomously controlling mobile robots. We implemented our concept to make two
experiments under static/dynamic environments. The results of these experiments
show that our idea provides a way to adapt to dynamic changes of the
environment in the real world.
