We describe in this paper a complete architecture for action planning and execution for intervention robots. The architecture is based on a decomposition of the robotic system into a Ground Station that embeds the functions for mission planning and teleprogramming, and an on-board system on the remote robot. This last system is decomposed into two main levels: a "decisional level" that interprets the mission according to the actual execution context and controls its execution by a "functional level" embedding the necessary processings for action and perception. The decisional level makes use of PRS, a procedural reasoning system that will be presented.