中文摘要：

为了便于操作员在侦察现场进行事务规划，提出了基于宏行为的事务描述方法和事务执行机制．按照机器人对环境变化的响应方式的不同，将机器人的行为分成基本行为、组合行为和宏行为，给出了描述这些行为的方法和一个宏行为的设计实例．引入了基于RS模型的行为合成运算符合成机器人行为的方法，从而可以形式化地构建侦察机器人的事务描述．实现了能够解释和执行事务描述的、基于宏行为的事务执行器．仿真和实验结果表明提出的任务描述方法可行，事务执行器能够可靠地完成事务描述所规定的任务．

英文摘要：

In order for the operator to plan reconnaissance mission conveniently at field, the mission description method and mission execution mechanism of reconnaissance robot based on macro behavior is brought forward. The behaviors of reconnaissance robot are classified into elementary behaviors, combinational behaviors and macro behaviors according to the ways of responding to the environment changes during task execution. The description methods for these behaviors are presented, and a design example of macro behavior is shown. The formal mission description method is introduced which uses behavior composition operators based on RS （ Robot Schema） model to assemble elementary behaviors, combinational behaviors and macro behaviors, and a mission executor based on macro behaviors which can interpret and execute the mission specification is realized. Simulation and experimental results show the validity of the presented mission specification method, and the mission executor can perform the specified tasks reliably.