Abstract: In order for the operator to plan reconnaissance mission conveniently at field,the mission description method and mission execution mechanism of reconnaissance robot based on macro behavior is brought forward.The behaviors of reconnaissance robot are classified into elementary behaviors,combinational behaviors and macro behaviors according to the ways of responding to the environment changes during task execution.The description methods for these behaviors are pre-sented,and a design example of macro behavior is shown.The formal mission description method is introduced which uses behavior composition operators based on RS(Robot Schema) model to assemble elementary behaviors,combinational behaviors and macro behaviors,and a mission executor based on macro behaviors which can interpret and execute the mission specification is realized.Simulation and experimental results show the validity of the presented mission specification me-thod,and the mission executor can perform the specified tasks reliably.