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This paper presents the autonomous mobile robot interactive behavior in ubiquitous computing environment. We have constructed multimodal network-based interfaces for human-robot interactions (HRI) and present examples in providing services via the direct or indirect interaction in responding to the user's demands. The mobile robot consists of seven systems including vision, speech, remote supervisory and sensory systems, locomotion, robotic arms and power management systems. Various combination schemes have been developed towards network-based interfaces in ubiquitous computing environments. The goal of this paper is to provide a service scheme of an autonomous mobile robot in the loop to be accepted by people as natural assistant. In this paper we have demonstrated three kinds of scenario and successfully tested on security warrior, an autonomous mobile robot developed in our lab.