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This paper presents a new behavior-based architecture for a mobile robot. The architecture coordinates behaviors based on a robot's internal condition and environment information. This approach combines the subsumption and schema-based approaches together with a unique feature called request or redundant mode. By monitoring a behavior's expected outcome, an unproductive behavior can request its redundant behavior to take over a task. On the other hand, when the requesting behavior can do the task again, it can take the task back. The results show that a system with the new architecture yields better performance than a system without it. Moreover, the new architecture can change behaviors' level and modes, add new behaviors, delete unused behaviors, and create new behaviors or tasks from existing behaviors at run-time, without reprogramming or restarting the entire system.