There is provided an information processing apparatus and information processing method to implement a more natural and flexible behavior plan of an autonomous mobile object, the information processing apparatus including a behavior planner configured to plan a behavior of an autonomous mobile object based on estimation of circumstances, wherein the behavior planner is configured to, based on the circumstances that are estimated and multiple sets of needs that are opposed to each other, determine the behavior to be executed by the autonomous mobile object. The information processing method includes, by a processor, planning a behavior of an autonomous mobile object based on estimation of circumstances, wherein the planning includes, based on the circumstances that are estimated and multiple sets of needs that are opposed to each other, determining the behavior to be executed by the autonomous mobile object.
INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD AND PROGRAM