The paper focuses on the development of an event-driven autonomous robot controller. Such systems being intrinsically hybrid, the model that is exposed is a hybrid model based on the cooperation of a discrete-event part and a continuous part. Then, continuous and discrete models are concurrently dealt with; the articulation model’s different parts results from event interactions. According to this event-based conception, the controller architecture is hierarchically organized in three levels. The supervisory control is based on the management of contexts of execution.