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Planning with sensing uncertainty is central to robotics. Sensor limitations often prevent accurate state estimation of the robot. Two general approaches can be taken for solving robotics tasks given sensing uncertainty. The first approach is to estimate the state and to solve the given task using the estimate as the real state. However, estimation of the state may sometimes be harder than solving the original task. The other approach is to avoid estimation of the state, which can be achieveddoi:10.1109/romoco.2005.201394 dblp:conf/romoco/TovarYOL05 fatcat:4vajjcntqjgszdsxddqsr5nzsq