This　paper　describes　a　behavioral　control　system　of　a　mobile　robot　using　Hybrid　Input/Output　Automata　(HIOA),　considering　the　entire　system.　This　Robot　HIOA　model　allowed　us　to　decompose　the　system　and　include　external　behaviors　which　capture　relationships　between　system　components.　Different　languages　were　used　for　each　component　depending　on　the　intrinsic　nature　of　its　trajectory　and　discrete　transition.　Using　receptive　strategies,　the　robot　was　verified　to　show　that　the　system　is　without　local　Zeno　execution.　The　mobile　robot　was　designed　to　smoothly　navigate　safely　through　an　unfamiliar　environment　with　high　obstacle　density　and　work　on　objects　of　interest　in　view.　©　2005　IEEE.