We are developing a remote visitor robot.We can attend a meeting and visit an aged care center from a remote place through Internet as if we would ride in the robot.The purpose of our study is also to develop a robot that allows us to join a conference from a remote place through the Internet under the communication environment that a broadband-router (NAT) exists on a communications line.Our faces are shown in PC display.We communicate through Skype (TV phone system).The robot is constructed of a mobile wagon,PC for wagon control,and PC for TV phone.The controller software is a multi-agent system which is composed of Man-machine interface,Task planner,and Mobile wagon controller.While the operator directs only the direction of the robot with a game pad or keyboard,the robot avoids obstacles and goes toward the target direction.