Behavior control system and robot

A robot acting as an agent which has an actuator and a behavior control system and which is constructed such that the behavior thereof is controlled by controlling the operation of the actuator by the behavior control system,

• wherein the behavior control system comprises:
• a first arithmetic processing element configured to determine a predicted position trajectory of an object expressed by a probability density distribution of time-series predicted positions of the object in the future on the basis of time-series measured positions or estimated positions of the object;
• a second arithmetic processing element configured to generate a position trajectory candidate of a counter object expressed by a probability density distribution which indicates likelihoods corresponding to time-series positions of a counter object which includes a position coinciding, in a spatial and time-series manner, with an interaction point candidate included in the predicted position trajectory of the object in a range reachable by the counter object by a motion of the agent;
• and
• a third arithmetic processing element configured to generate the behavior plan such that a position trajectory of the counter object coincides with a desired position trajectory of the counter object, which is a mean position trajectory or a central position trajectory of one position trajectory candidate selected from among a plurality of position trajectory candidates of the counter object on the basis of the degree of overlapping of a time-series probability density distribution with the predicted position trajectory of the object.