R. Scherl, Y. Lesperance, H. Levesque, F. Lin, and R. Reiter
The execution of a plan containing conditionals by an agent with incomplete knowledge poses some difficult problems. In order for the conditional to be meaningful, the agent must know whether or not the condition is true at execution time. This paper proposes one solution to this problem by integrating sensing actions into GOLOG, a high-level robot programming language. At run time, the interpreter perfi)rms a small amount of planning to ensure that the agent will know whether or not a condition is true prior to the point where the test for the truth of the condition needs to be made.