This paper describes a hybrid mobile robot architecture that addresses three main challenges for robots living in human-inhabited environments: how to operate in dynamic and unpredictable environment, how to deal with high-level human commands, and how to engage human users. The architecture combines three components: deliberative planning, reactive control, and motivational drives. It has been proven useful for controlling mobile robots in man-made environments. Results are reported for a fax delivery mission in a normal office environment.