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The robust execution of a planned trajectory is a critical issue in robotics. In this paper, we set the formal basis for a sensor-landmark-based motion planning approach. Our approach deals with inaccuracy of the map of the environment by producing motion features composed of a reference trajectory and of a set of pairs sensorlandmark over which the robot will control its motion. These motion features define along the trajectory closed-loop motion strategies for the robot. This approach enablesdoi:10.1109/iros.2004.1389680 dblp:conf/iros/MaltiLT04 fatcat:n2q7qwgpufcyfedbbf4thrcq7i