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We present a representation for reasoning and planning with an incomplete state description (open-world) called PSIPLAN-S. The presented formalism has several properties critical for application domains with a large degree of incompleteness in the state description, particularly, in domains with a large or unknown set of all objects. The formalism offers (1) considerably expressive state and goal description language, that includes limited universal quantification, (2) representation of sensingdoi:10.3166/jancl.19.7-41 fatcat:v4dtdtknsrcy5jjmwpu4o43b6u