There are now a series of robotic platforms that are autonomous and can be placed around humans in the office or in the home. However, integrating intelligent capabilities and describing the behaviour for these robots to act in these environments sensibly represents a significant requirements-engineering challenge. We propose tools to perform such requirements engineering that enable model-driven engineering. Our approach suggests a capacity to develop hybrid systems (in that they incorporate capabilities of reactive systems, and of symbolic reasoning systems). However, we believe or contribution is more relevant from the software engineering point of view. We are able to validate\verify the software in the robot, or simulators and formally, enabling platform independence. We can trace behaviour to requirements, revise and update behaviour, and simplify development and maintenance of modules. We illustrate this with examples of RoboCup@Home and RoboCup Soccer SPL.