This article describes two vision-based behaviors designed for an autonomous robot. These behaviors
have been designed and implemented using schemas according to an architecture named DSH (Dynamic
Schema Hierarchies), which is also briefly described. The reactive behaviors implemented have been tested
in our robotic soccer players, running in EyeBot commercial platforms. The developed behaviors provide
the robot with the follow ball, and the follow border capabilities, using only the local camera and the robot
on-board low processing power. The design of the control schemas, the algorithms used to analyze the
images in perceptual schemas and relevant implementation issues are also described in this pape
