This Chapter introduces a formal language used to model complex relationships
between detectable human activities, events and robot behaviours that are to be detected
by robots in streams of sensory data. The Ubiquitous Robotics paradigm is adopted
in order to show how distributed sources of information can be easily integrated to assess
the current context. Specific emphasis is devoted to the use of context assessment
techniques to enforce the adaptation of robot behaviours to human activity. The model is
described both theoretically and with a thorough example.
