本文关注的是开发方法、算法和工具，为设计用于在复杂环境中支持活动的机器人系统创建软件基础。机器人控制系统的本质是基于模块化人工智能的软件结构，基于监控网络监督下的灵活模块交互。提出的方法涉及为机器人控制系统开发概念、算法和软件，以满足当前不断增长的以适当方式改变系统行为的实际需求。使用的主要工具是基于AI的分析器和基于PETRI网的调度器。

THIS PAPER CONCERNS THE DEVELOPMENT OF METHODS, ALGORITHMS, AND TOOLS FOR CREATING A SOFTWARE BASIS FOR A ROBOT SYSTEM DESIGNED FOR SUPPORTING ACTIVITY IN A SOPHISTICATED ENVIRONMENT. THE ESSENCE OF THE ROBOT CONTROL SYSTEM IS A MODULAR AI-BASED SOFTWARE STRUCTURE BASED ON FLEXIBLE MODULES INTERACTING UNDER MONITOR NETWORK SUPERVISION. THE METHODOLOGY SUGGESTED CONCERNS DEVELOPING CONCEPTS, ALGORITHMS, AND SOFTWARE FOR A ROBOTIC CONTROL SYSTEM WHICH SHOULD MEET CURRENTLY RISING PRACTICAL DEMANDS FOR CHANGING THE SYSTEM BEHAVIOR IN AN APPROPRIATE WAY. THE PRINCIPAL TOOLS IN USE ARE THE AI-BASED ANALYZER AND PETRI NET BASED DISPATCHER.