This paper describes an architecture for mobile robots that is suitable for teleoperation. The architecture is hybrid and has three levels: a reactive level, a deliberative level and an interface level. Reactive level is distributed and it is made up of sensor nodes and controllers. On the other hand, deliberative level establishes the knowledge and the reasoning capability to the robot. This deliberative level uses reactive level (sensor and actuator values) through the interface level. Interface level is made up of a communication system that allows local and remote access to the robot from any deliberative node. The architecture has been implemented as a case study in the YAIR robot, enabling its teleoperation from a remote node using Windows CE.